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"start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the orange 2x2 Lego brick slightly off the table."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift_transport: Right hand lifts the orange 2x2 Lego brick off the table and transports it leftward above the blue Lego brick."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand lowers the orange 2x2 Lego brick and places it on top of the blue Lego brick."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and 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upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}, {"label": "home", "start_step": 1236, "end_step": 1269, "id": "cbZ5c19pHfQt4dDtXVBEB"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves slightly downward and rightward toward the center of the table with an empty hand. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the 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"subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the blue Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 Lego brick on the black table, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the blue 2x2 Lego brick slightly off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: other:move_brick_leftward: Right hand holds the blue 2x2 Lego brick and moves it leftward on the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the blue 2x2 Lego brick adjacent to the right side of the green Lego brick without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release_retreat: Right hand releases the blue 2x2 Lego brick and retreats rightward."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand 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the table. | Right hand: mate_release: Right hand adjusts and presses the orange 2x2 Lego brick to mate with the blue Lego brick and releases the brick."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate: Right hand aligns the orange 2x2 Lego brick on the top of the stacked Lego bricks to fit the connecting studs below."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases its grip from the orange 2x2 Lego brick and lifts slightly away."}, {"label": "subtasks", "start_step": 1200, "end_step": 1269, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves leftward and upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}], "episode_index": 11}
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toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "home", "start_step": 1304, "end_step": 1338, "id": "VWLr-WtNRY6imEp_2XQY-"}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 38, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "episode_index": 12}
+{"source_uid": "dad84d3de32678e2", "num_frames": 2248, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 2218, "id": "8bmnGtQbAX9dcDPMY8Xyn"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00003", "text": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 749, "id": "reasoning-language-00005", "text": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00006", "text": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00008", "text": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}, {"label": "home", "start_step": 2219, "end_step": 2247, "id": "EcL43UKN6NUv1sF2VAK-i"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00003", "text": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 749, "id": "reasoning-language-00005", "text": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00006", "text": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00008", "text": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}], "episode_index": 13}
+{"source_uid": "af639ad3a67a010c", "num_frames": 1251, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "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 upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "valid", "start_step": 1, "end_step": 1220, "id": "Cl6VkgK23SxhTbSrHItCE"}, {"label": "subtasks", "start_step": 22, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}, {"label": "home", "start_step": 1221, "end_step": 1250, "id": "8qnWZUlA4Cm8N5oWruvO2"}], "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 upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}], "episode_index": 14}
+{"source_uid": "b8e9c55c1611b10c", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "valid", "start_step": 0, "end_step": 1367, "id": "TZF_7qAmCZnxnfR7qinBm"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}, {"label": "home", "start_step": 1368, "end_step": 1399, "id": "vsvxRJRmWze7VctN19Dtx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}], "episode_index": 15}
+{"source_uid": "71ea1f86954560f1", "num_frames": 1298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "valid", "start_step": 0, "end_step": 1265, "id": "hu0SYReuPZbziOaSYtSKa"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}, {"label": "home", "start_step": 1266, "end_step": 1297, "id": "tB5Bd1q8P4IWRgeNPNPjB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}], "episode_index": 16}
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b23eb017c6ac85156d13726d71345c1629f552d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,19 @@
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"start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", 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upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}, {"label": "home", "start_step": 1236, "end_step": 1269, "id": "cbZ5c19pHfQt4dDtXVBEB"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves slightly downward and rightward toward the center of the table with an empty hand. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the 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"subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the blue Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 Lego brick on the black table, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the blue 2x2 Lego brick slightly off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: other:move_brick_leftward: Right hand holds the blue 2x2 Lego brick and moves it leftward on the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the blue 2x2 Lego brick adjacent to the right side of the green Lego brick without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release_retreat: Right hand releases the blue 2x2 Lego brick and retreats rightward."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": 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remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the orange 2x2 Lego brick slightly off the table."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift_transport: Right hand lifts the orange 2x2 Lego brick off the table and transports it leftward above the blue Lego brick."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand lowers the orange 2x2 Lego brick and places it on top of the blue Lego brick."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate_release: Right hand adjusts and presses the orange 2x2 Lego brick to mate with the blue Lego brick and releases the brick."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate: Right hand aligns the orange 2x2 Lego brick on the top of the stacked Lego bricks to fit the connecting studs below."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases its grip from the orange 2x2 Lego brick and lifts slightly away."}, {"label": "subtasks", "start_step": 1200, "end_step": 1269, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves leftward and upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}], "episode_index": 11}
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toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "home", "start_step": 1304, "end_step": 1338, "id": "VWLr-WtNRY6imEp_2XQY-"}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 38, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "episode_index": 12}
+{"source_uid": "dad84d3de32678e2", "num_frames": 2248, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 2218, "id": "8bmnGtQbAX9dcDPMY8Xyn"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00003", "text": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 749, "id": "reasoning-language-00005", "text": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00006", "text": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00008", "text": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}, {"label": "home", "start_step": 2219, "end_step": 2247, "id": "EcL43UKN6NUv1sF2VAK-i"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00003", "text": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 749, "id": "reasoning-language-00005", "text": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00006", "text": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00008", "text": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}], "episode_index": 13}
+{"source_uid": "af639ad3a67a010c", "num_frames": 1251, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "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 upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "valid", "start_step": 1, "end_step": 1220, "id": "Cl6VkgK23SxhTbSrHItCE"}, {"label": "subtasks", "start_step": 22, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}, {"label": "home", "start_step": 1221, "end_step": 1250, "id": "8qnWZUlA4Cm8N5oWruvO2"}], "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 upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}], "episode_index": 14}
+{"source_uid": "b8e9c55c1611b10c", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "valid", "start_step": 0, "end_step": 1367, "id": "TZF_7qAmCZnxnfR7qinBm"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}, {"label": "home", "start_step": 1368, "end_step": 1399, "id": "vsvxRJRmWze7VctN19Dtx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}], "episode_index": 15}
+{"source_uid": "71ea1f86954560f1", "num_frames": 1298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "valid", "start_step": 0, "end_step": 1265, "id": "hu0SYReuPZbziOaSYtSKa"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}, {"label": "home", "start_step": 1266, "end_step": 1297, "id": "tB5Bd1q8P4IWRgeNPNPjB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}], "episode_index": 16}
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f0015f8808ad3402337f0d5ce118e5a5036e2c0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,19 @@
+{"episode_index": 0, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 2073}
+{"episode_index": 1, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1739}
+{"episode_index": 2, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1836}
+{"episode_index": 3, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1841}
+{"episode_index": 4, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 2139}
+{"episode_index": 5, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1584}
+{"episode_index": 6, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1730}
+{"episode_index": 7, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 2374}
+{"episode_index": 8, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 3480}
+{"episode_index": 9, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1425}
+{"episode_index": 10, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1815}
+{"episode_index": 11, "tasks": ["Task: stack_blocks"], "length": 1270}
+{"episode_index": 12, "tasks": ["Task: stack_blocks"], "length": 1339}
+{"episode_index": 13, "tasks": ["Task: stack_blocks"], "length": 2248}
+{"episode_index": 14, "tasks": ["Task: stack_blocks"], "length": 1251}
+{"episode_index": 15, "tasks": ["Task: stack_blocks"], "length": 1400}
+{"episode_index": 16, "tasks": ["Task: stack_blocks"], "length": 1298}
+{"episode_index": 17, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1652}
+{"episode_index": 18, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1526}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1bcfcc9eb8f609d0039c825fb7d3aec2c186a7f0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,19 @@
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"observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2120663970708847]], [[0.2124461680650711]], [[0.2112991362810135]]], "std": [[[0.14640402793884277]], [[0.14651048183441162]], [[0.14770162105560303]]], "count": [1526]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5670545697212219]], [[0.5662903189659119]], [[0.5682971477508545]]], "std": [[[0.2992691099643707]], [[0.2997756004333496]], [[0.30154019594192505]]], "count": [1526]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6078431606292725]], [[0.6078431606292725]], [[0.6078431606292725]]], "mean": [[[0.0013428437523543835]], [[0.0013428437523543835]], [[0.0013428437523543835]]], "std": [[[0.02085658349096775]], [[0.02085658349096775]], [[0.02085658349096775]]], "count": [1526]}, "observation.images.tactile_raw": {"min": [[[0.0235294122248888]], [[0.0235294122248888]], [[0.0235294122248888]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4691624045372009]], [[0.4691624045372009]], [[0.4691624045372009]]], "std": [[[0.23948583006858826]], [[0.23948583006858826]], [[0.23948583006858826]]], "count": [1526]}}}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2942289f1ac05d3feaa4a158b6efb6640be2ee3
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 19,
+    "total_frames": 34020,
+    "total_tasks": 2,
+    "total_videos": 114,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:19"
+    },
+    "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/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_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/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c3492dae4d6a0c6b9bab5b1202122ed49a91644
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,150 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"subtask_index": 5, "subtask": "Task: stack_blocks"}
+{"subtask_index": 6, "subtask": "Left hand: reach: Left hand moves slightly downward and rightward toward the center of the table with an empty hand. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves leftward from above the green 2x4 Lego brick to above the green 2x2 Lego brick, remaining empty during the movement."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the green 2x2 Lego brick on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the green 2x2 Lego brick on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the green 2x2 Lego brick slightly off the table surface."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp_transport: Right hand grasps the upper green 2x2 Lego brick and transports it rightward and downward toward the lower green 2x2 Lego brick on the table."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand places the upper green 2x2 Lego brick onto the lower green 2x2 Lego brick."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the two green 2x2 Lego bricks without moving."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases the green Lego brick, fingers opening to separate from the brick which stays on the table."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves rightward in the air to approach the blue Lego brick on the table."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the blue Lego brick on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 Lego brick on the black table, with slight adjustment to stabilize the grip."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the blue 2x2 Lego brick slightly off the black table surface."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: other:move_brick_leftward: Right hand holds the blue 2x2 Lego brick and moves it leftward on the table surface."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the blue 2x2 Lego brick adjacent to the right side of the green Lego brick without moving."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release_retreat: Right hand releases the blue 2x2 Lego brick and retreats rightward."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the orange 2x2 Lego brick slightly off the table."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift_transport: Right hand lifts the orange 2x2 Lego brick off the table and transports it leftward above the blue Lego brick."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand lowers the orange 2x2 Lego brick and places it on top of the blue Lego brick."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate_release: Right hand adjusts and presses the orange 2x2 Lego brick to mate with the blue Lego brick and releases the brick."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate: Right hand aligns the orange 2x2 Lego brick on the top of the stacked Lego bricks to fit the connecting studs below."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases its grip from the orange 2x2 Lego brick and lifts slightly away."}
+{"subtask_index": 32, "subtask": "Left hand: retreat: Left hand moves leftward and upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}
+{"subtask_index": 33, "subtask": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}
+{"subtask_index": 51, "subtask": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}
+{"subtask_index": 52, "subtask": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}
+{"subtask_index": 53, "subtask": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}
+{"subtask_index": 54, "subtask": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}
+{"subtask_index": 55, "subtask": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}
+{"subtask_index": 56, "subtask": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}
+{"subtask_index": 57, "subtask": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}
+{"subtask_index": 58, "subtask": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}
+{"subtask_index": 59, "subtask": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}
+{"subtask_index": 60, "subtask": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}
+{"subtask_index": 61, "subtask": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}
+{"subtask_index": 62, "subtask": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}
+{"subtask_index": 63, "subtask": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}
+{"subtask_index": 64, "subtask": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}
+{"subtask_index": 65, "subtask": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}
+{"subtask_index": 66, "subtask": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}
+{"subtask_index": 67, "subtask": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}
+{"subtask_index": 68, "subtask": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}
+{"subtask_index": 69, "subtask": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}
+{"subtask_index": 70, "subtask": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}
+{"subtask_index": 71, "subtask": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}
+{"subtask_index": 72, "subtask": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}
+{"subtask_index": 73, "subtask": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}
+{"subtask_index": 74, "subtask": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}
+{"subtask_index": 75, "subtask": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}
+{"subtask_index": 76, "subtask": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}
+{"subtask_index": 77, "subtask": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}
+{"subtask_index": 78, "subtask": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}
+{"subtask_index": 79, "subtask": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}
+{"subtask_index": 80, "subtask": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}
+{"subtask_index": 81, "subtask": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}
+{"subtask_index": 82, "subtask": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}
+{"subtask_index": 83, "subtask": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}
+{"subtask_index": 84, "subtask": "Left hand: return_home: Left hand moves from its initial upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}
+{"subtask_index": 95, "subtask": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}
+{"subtask_index": 101, "subtask": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}
+{"subtask_index": 102, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}
+{"subtask_index": 128, "subtask": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}
+{"subtask_index": 129, "subtask": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}
+{"subtask_index": 148, "subtask": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}
+{"subtask_index": 149, "subtask": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/tasks.jsonl
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@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"task_index": 1, "task": "Task: stack_blocks"}
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+{
+  "status": "passed",
+  "episodes": 19,
+  "frames": 34020,
+  "video_frames": {
+    "observation.images.head_left": 34020,
+    "observation.images.wrist_left": 34020,
+    "observation.images.wrist_right": 34020,
+    "observation.images.head_right": 34020,
+    "observation.images.tactile_deform": 34020,
+    "observation.images.tactile_raw": 34020
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 19
+}
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approach the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the blue Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 Lego brick on the black table, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the blue 2x2 Lego brick slightly off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: other:move_brick_leftward: Right hand holds the blue 2x2 Lego brick and moves it leftward on the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the blue 2x2 Lego brick adjacent to the right side of the green Lego brick without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release_retreat: Right hand releases the blue 2x2 Lego brick and retreats rightward."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the orange 2x2 Lego brick slightly off the table."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift_transport: Right hand lifts the orange 2x2 Lego brick off the table and transports it leftward above the blue Lego brick."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand lowers the orange 2x2 Lego brick and places it on top of the blue Lego brick."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate_release: Right hand adjusts and presses the orange 2x2 Lego brick to mate with the blue Lego brick and releases the brick."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate: Right hand aligns the orange 2x2 Lego brick on the top of the stacked Lego bricks to fit the connecting studs below."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases its grip from the orange 2x2 Lego brick and lifts slightly away."}, {"label": "subtasks", "start_step": 1200, "end_step": 1269, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves leftward and upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}, {"label": "home", "start_step": 1236, "end_step": 1269, "id": "cbZ5c19pHfQt4dDtXVBEB"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves slightly downward and rightward toward the center of the table with an empty hand. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves leftward from above the green 2x4 Lego brick to above the green 2x2 Lego brick, remaining empty during the movement."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the green 2x2 Lego brick on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the green 2x2 Lego brick on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the green 2x2 Lego brick slightly off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp_transport: Right hand grasps the upper green 2x2 Lego brick and transports it rightward and downward toward the lower green 2x2 Lego brick on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand places the upper green 2x2 Lego brick onto the lower green 2x2 Lego brick."}, {"label": "subtasks", "start_step": 262, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the two green 2x2 Lego bricks without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases the green Lego brick, fingers opening to separate from the brick which stays on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves rightward in the air to approach the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the blue Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 Lego brick on the black table, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the blue 2x2 Lego brick slightly off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: other:move_brick_leftward: Right hand holds the blue 2x2 Lego brick and moves it leftward on the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the blue 2x2 Lego brick adjacent to the right side of the green Lego brick without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release_retreat: Right hand releases the blue 2x2 Lego brick and retreats rightward."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the orange 2x2 Lego brick slightly off the table."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift_transport: Right hand lifts the orange 2x2 Lego brick off the table and transports it leftward above the blue Lego brick."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand lowers the orange 2x2 Lego brick and places it on top of the blue Lego brick."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate_release: Right hand adjusts and presses the orange 2x2 Lego brick to mate with the blue Lego brick and releases the brick."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate: Right hand aligns the orange 2x2 Lego brick on the top of the stacked Lego bricks to fit the connecting studs below."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases its grip from the orange 2x2 Lego brick and lifts slightly away."}, {"label": "subtasks", "start_step": 1200, "end_step": 1269, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves leftward and upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}], "episode_index": 11}
+{"source_uid": "818aad203a496e29", "num_frames": 1339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1303, "id": "ypIbTnnExnA-Y2tl6k1FX"}, {"label": "subtasks", "start_step": 38, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "home", "start_step": 1304, "end_step": 1338, "id": "VWLr-WtNRY6imEp_2XQY-"}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 38, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "episode_index": 12}
+{"source_uid": "dad84d3de32678e2", "num_frames": 2248, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 2218, "id": "8bmnGtQbAX9dcDPMY8Xyn"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains 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brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}, {"label": "home", "start_step": 2219, "end_step": 2247, "id": "EcL43UKN6NUv1sF2VAK-i"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00003", "text": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 749, "id": "reasoning-language-00005", "text": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00006", "text": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00008", "text": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}], "episode_index": 13}
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the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}, {"label": "home", "start_step": 1221, "end_step": 1250, "id": "8qnWZUlA4Cm8N5oWruvO2"}], "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 upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}], "episode_index": 14}
+{"source_uid": "b8e9c55c1611b10c", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "valid", "start_step": 0, "end_step": 1367, "id": "TZF_7qAmCZnxnfR7qinBm"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}, {"label": "home", "start_step": 1368, "end_step": 1399, "id": "vsvxRJRmWze7VctN19Dtx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}], "episode_index": 15}
+{"source_uid": "71ea1f86954560f1", "num_frames": 1298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "valid", "start_step": 0, "end_step": 1265, "id": "hu0SYReuPZbziOaSYtSKa"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}, {"label": "home", "start_step": 1266, "end_step": 1297, "id": "tB5Bd1q8P4IWRgeNPNPjB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}], "episode_index": 16}
+{"source_uid": "aa8b59b9aaca629a", "num_frames": 1652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 305, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 306, "end_step": 781, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 782, "end_step": 1088, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1089, "end_step": 1577, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 305, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 306, "end_step": 781, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 782, "end_step": 1088, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1089, "end_step": 1577, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_16_55_57_train/POC22027_2026_05_06_17_18_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "d3687073fb7ac1af", "num_frames": 1526, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 654, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 1012, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1013, "end_step": 1458, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 654, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 1012, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1013, "end_step": 1458, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_16_55_57_train/POC22027_2026_05_06_17_19_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b23eb017c6ac85156d13726d71345c1629f552d
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,19 @@
+{"source_uid": "84db31b5f58ece11", "num_frames": 2073, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 640, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 1032, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1392, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 2003, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 640, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 1032, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1392, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 2003, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_16_55_57_train/POC22027_2026_05_06_16_55_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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"start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", 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green 2x2 Lego brick onto the lower green 2x2 Lego brick."}, {"label": "subtasks", "start_step": 262, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the two green 2x2 Lego bricks without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases the green Lego brick, fingers opening to separate from the brick which stays on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves rightward in the air to approach the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the blue Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 Lego brick on the black table, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the blue 2x2 Lego brick slightly off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: other:move_brick_leftward: Right hand holds the blue 2x2 Lego brick and moves it leftward on the table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the blue 2x2 Lego brick adjacent to the right side of the green Lego brick without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release_retreat: Right hand releases the blue 2x2 Lego brick and retreats rightward."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the orange 2x2 Lego brick slightly off the table."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift_transport: Right hand lifts the orange 2x2 Lego brick off the table and transports it leftward above the blue Lego brick."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand lowers the orange 2x2 Lego brick and places it on top of the blue Lego brick."}, {"label": "subtasks", "start_step": 982, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate_release: Right hand adjusts and presses the orange 2x2 Lego brick to mate with the blue Lego brick and releases the brick."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate: Right hand aligns the orange 2x2 Lego brick on the top of the stacked Lego bricks to fit the connecting studs below."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases its grip from the orange 2x2 Lego brick and lifts slightly away."}, {"label": "subtasks", "start_step": 1200, "end_step": 1269, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves leftward and upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}], "episode_index": 11}
+{"source_uid": "818aad203a496e29", "num_frames": 1339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "valid", "start_step": 0, "end_step": 1303, "id": "ypIbTnnExnA-Y2tl6k1FX"}, {"label": "subtasks", "start_step": 38, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "home", "start_step": 1304, "end_step": 1338, "id": "VWLr-WtNRY6imEp_2XQY-"}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 38, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}, {"label": "subtasks", "start_step": 675, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1338, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}], "episode_index": 12}
+{"source_uid": "dad84d3de32678e2", "num_frames": 2248, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 2218, "id": "8bmnGtQbAX9dcDPMY8Xyn"}, {"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00003", "text": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 749, "id": "reasoning-language-00005", "text": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00006", "text": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00008", "text": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}, {"label": "home", "start_step": 2219, "end_step": 2247, "id": "EcL43UKN6NUv1sF2VAK-i"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 149, "id": "reasoning-language-00001", "text": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 150, "end_step": 434, "id": "reasoning-language-00002", "text": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00003", "text": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00004", "text": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 749, "id": "reasoning-language-00005", "text": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00006", "text": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00007", "text": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00008", "text": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00009", "text": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00010", "text": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00011", "text": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00012", "text": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00013", "text": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00014", "text": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00015", "text": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}, {"label": "subtasks", "start_step": 1110, "end_step": 1297, "id": "reasoning-language-00016", "text": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00017", "text": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1424, "id": "reasoning-language-00018", "text": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1491, "id": "reasoning-language-00019", "text": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}, {"label": "subtasks", "start_step": 1492, "end_step": 1687, "id": "reasoning-language-00020", "text": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1754, "id": "reasoning-language-00021", "text": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00022", "text": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00023", "text": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00024", "text": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00025", "text": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00026", "text": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}, {"label": "subtasks", "start_step": 2025, "end_step": 2091, "id": "reasoning-language-00027", "text": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00028", "text": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00029", "text": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00030", "text": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}], "episode_index": 13}
+{"source_uid": "af639ad3a67a010c", "num_frames": 1251, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "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 upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "valid", "start_step": 1, "end_step": 1220, "id": "Cl6VkgK23SxhTbSrHItCE"}, {"label": "subtasks", "start_step": 22, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}, {"label": "home", "start_step": 1221, "end_step": 1250, "id": "8qnWZUlA4Cm8N5oWruvO2"}], "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 upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 22, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}, {"label": "subtasks", "start_step": 270, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}, {"label": "subtasks", "start_step": 510, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}, {"label": "subtasks", "start_step": 885, "end_step": 1027, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}, {"label": "subtasks", "start_step": 1200, "end_step": 1250, "id": "reasoning-language-00018", "text": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}], "episode_index": 14}
+{"source_uid": "b8e9c55c1611b10c", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "valid", "start_step": 0, "end_step": 1367, "id": "TZF_7qAmCZnxnfR7qinBm"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}, {"label": "home", "start_step": 1368, "end_step": 1399, "id": "vsvxRJRmWze7VctN19Dtx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}, {"label": "subtasks", "start_step": 1065, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}, {"label": "subtasks", "start_step": 1320, "end_step": 1399, "id": "reasoning-language-00027", "text": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}], "episode_index": 15}
+{"source_uid": "71ea1f86954560f1", "num_frames": 1298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "valid", "start_step": 0, "end_step": 1265, "id": "hu0SYReuPZbziOaSYtSKa"}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}, {"label": "home", "start_step": 1266, "end_step": 1297, "id": "tB5Bd1q8P4IWRgeNPNPjB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 52, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 232, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}, {"label": "subtasks", "start_step": 638, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}, {"label": "subtasks", "start_step": 1110, "end_step": 1229, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}], "episode_index": 16}
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+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+    "head_right": {
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+    "tactile_deform": {
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+    "tactile_raw": {
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+  "annotation": {
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+      "absolute": true,
+      "dtype": "float32",
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+      "rotation_type": null,
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+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
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+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..52b3c8c181ee39b6ebb6ff76b280d299f8b1a986
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v3.0/meta/stats.json
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hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "home", "start_step": 1886, "end_step": 1925, "id": "ENJ287FoL6x7dOJG7ebeQ"}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves downward from its initial raised upright position to the left front home position, with slight finger posture adjustments during the movement. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "episode_index": 8}
+{"source_uid": "b8dbbefe4db5ee4b", "num_frames": 1665, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1f5d37df5abf179a", "num_frames": 1914, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_30_05_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "3a12d71a9cb29c50", "num_frames": 1699, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "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 significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 1658, "id": "bR24dDw5SN7vmvlQPp0-j"}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}, {"label": "home", "start_step": 1659, "end_step": 1698, "id": "RweVyrDV5l0Hak1x2x0xx"}], "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 significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}], "episode_index": 11}
+{"source_uid": "678c9594db14028f", "num_frames": 1978, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 321, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 760, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 1291, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1292, "end_step": 1889, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 321, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 760, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 1291, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1292, "end_step": 1889, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_32_29_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "home", "start_step": 1427, "end_step": 1466, "id": "WHdbE1XrpopiTfP0o5O51"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends fingers from the initial upright closed pose with slight wrist rotation, reaching a stable open-hand posture. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}], "episode_index": 22}
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the blue block vertically upward off the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block leftward and downward to the position directly above the green L-shaped block."}, {"label": "subtasks", "start_step": 668, "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: mate: Right hand aligns the blue block with the studs of the green block and places it onto the green block to form the assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00017", "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 blue block downward to secure the assembly fit, then releases the block with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "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 its index finger toward the top surface of the blue block."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_hold: Right hand presses and holds the top of the blue block with its index finger, keeping still after pressing."}, {"label": "subtasks", "start_step": 930, "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: release: Right hand releases the green-blue stacked block on the table, fingers open and separate from the block."}, {"label": "goal", "start_step": 934, "end_step": 1283, "id": "9f695b3b-bf9e-4939-825e-793e93d868bf"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "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 rightward towards the orange block on the table, not yet touching the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block upward off the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block leftward to the area above the green-blue stacked block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the top of the green-blue stacked block, aligning and placing it into assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "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 orange block on top of the green-blue stacked block without moving."}, {"label": "home", "start_step": 1332, "end_step": 1372, "id": "eKqeBDMKsE-bfg8SzPbJC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves empty to adjust its posture at the left side of the table. | Right hand: reach: Right hand moves empty towards the large green building block on the table."}, {"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: reach: Right hand moves empty towards the large green building block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the large green building block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 165, "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: pull: Right hand pulls the large green building block on the table towards the robot side."}, {"label": "subtasks", "start_step": 225, "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: hold: Right hand holds the large green building block on the table without moving."}, {"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 moving. | Right hand: reach: Right hand moves toward the standing small green block on the black table with fingers slightly open."}, {"label": "subtasks", "start_step": 285, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the standing small green block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the flat green block."}, {"label": "subtasks", "start_step": 375, "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: place: Right hand lowers the small green block onto the flat green block until it is supported by the flat block."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the small green block to align with the studs of the flat green block and presses it to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "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 green L-shaped block on the table, with fingers moving upward and away from the block."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward and upward from the green block toward the blue block on the table, approaching the blue block."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block vertically upward off the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block leftward and downward to the position directly above the green L-shaped block."}, {"label": "subtasks", "start_step": 668, "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: mate: Right hand aligns the blue block with the studs of the green block and places it onto the green block to form the assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00017", "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 blue block downward to secure the assembly fit, then releases the block with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "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 its index finger toward the top surface of the blue block."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_hold: Right hand presses and holds the top of the blue block with its index finger, keeping still after pressing."}, {"label": "subtasks", "start_step": 930, "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: release: Right hand releases the green-blue stacked block on the table, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "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 rightward towards the orange block on the table, not yet touching the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block upward off the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block leftward to the area above the green-blue stacked block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the top of the green-blue stacked block, aligning and placing it into assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "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 orange block on top of the green-blue stacked block without moving."}], "episode_index": 38}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65ba0024b09c7065c1d4c2433f7e12b9f7d3f9f5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,39 @@
+{"source_uid": "dd122666f64fb176", "num_frames": 1981, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 520, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 946, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 1291, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1292, "end_step": 1899, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 520, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 946, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 1291, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1292, "end_step": 1899, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_16_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "87e30851526e5536", "num_frames": 2059, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 428, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 923, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 1392, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 2001, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 428, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 923, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 1392, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 2001, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_17_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "home", "start_step": 1886, "end_step": 1925, "id": "ENJ287FoL6x7dOJG7ebeQ"}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves downward from its initial raised upright position to the left front home position, with slight finger posture adjustments during the movement. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "episode_index": 8}
+{"source_uid": "b8dbbefe4db5ee4b", "num_frames": 1665, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1f5d37df5abf179a", "num_frames": 1914, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_30_05_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "3a12d71a9cb29c50", "num_frames": 1699, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "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 significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 1658, "id": "bR24dDw5SN7vmvlQPp0-j"}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}, {"label": "home", "start_step": 1659, "end_step": 1698, "id": "RweVyrDV5l0Hak1x2x0xx"}], "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 significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}], "episode_index": 11}
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open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "home", "start_step": 1427, "end_step": 1466, "id": "WHdbE1XrpopiTfP0o5O51"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends fingers from the initial upright closed pose with slight wrist rotation, reaching a stable open-hand posture. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}], "episode_index": 22}
+{"source_uid": "b77d4bd8d7c0c2c1", "num_frames": 1967, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 398, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 1040, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1433, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1434, "end_step": 1887, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 398, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 1040, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1433, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1434, "end_step": 1887, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_47_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
+{"source_uid": "b38f4736ef38c4d6", "num_frames": 1570, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 199, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 515, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 954, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1486, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 199, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 515, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 954, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1486, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_51_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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Right hand moves empty towards the large green building block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the large green building block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 165, "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: pull: Right hand pulls the large green building block on the table towards the robot side."}, {"label": "subtasks", "start_step": 225, "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: hold: Right hand holds the large green building block on the table without moving."}, {"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 moving. | Right hand: reach: Right hand moves toward the standing small green block on the black table with fingers slightly open."}, {"label": "goal", "start_step": 241, "end_step": 486, "id": "ab1c900d-0eee-4521-b679-6e96c4ef8814"}, {"label": "subtasks", "start_step": 285, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the standing small green block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the flat green block."}, {"label": "subtasks", "start_step": 375, "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: place: Right hand lowers the small green block onto the flat green block until it is supported by the flat block."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the small green block to align with the studs of the flat green block and presses it to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "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 green L-shaped block on the table, with fingers moving upward and away from the block."}, {"label": "goal", "start_step": 487, "end_step": 933, "id": "f2312af7-ea33-461c-bba4-262b187df6cd"}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward and upward from the green block toward the blue block on the table, approaching the blue block."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block vertically upward off the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block leftward and downward to the position directly above the green L-shaped block."}, {"label": "subtasks", "start_step": 668, "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: mate: Right hand aligns the blue block with the studs of the green block and places it onto the green block to form the assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00017", "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 blue block downward to secure the assembly fit, then releases the block with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "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 its index finger toward the top surface of the blue block."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_hold: Right hand presses and holds the top of the blue block with its index finger, keeping still after pressing."}, {"label": "subtasks", "start_step": 930, "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: release: Right hand releases the green-blue stacked block on the table, fingers open and separate from the block."}, {"label": "goal", "start_step": 934, "end_step": 1283, "id": "9f695b3b-bf9e-4939-825e-793e93d868bf"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "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 rightward towards the orange block on the table, not yet touching the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block upward off the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block leftward to the area above the green-blue stacked block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the top of the green-blue stacked block, aligning and placing it into assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "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 orange block on top of the green-blue stacked block without moving."}, {"label": "home", "start_step": 1332, "end_step": 1372, "id": "eKqeBDMKsE-bfg8SzPbJC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves empty to adjust its posture at the left side of the table. | Right hand: reach: Right hand moves empty towards the large green building block on the table."}, {"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: reach: Right hand moves empty towards the large green building block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the large green building block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 165, "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: pull: Right hand pulls the large green building block on the table towards the robot side."}, {"label": "subtasks", "start_step": 225, "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: hold: Right hand holds the large green building block on the table without moving."}, {"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 moving. | Right hand: reach: Right hand moves toward the standing small green block on the black table with fingers slightly open."}, {"label": "subtasks", "start_step": 285, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the standing small green block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the flat green block."}, {"label": "subtasks", "start_step": 375, "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: place: Right hand lowers the small green block onto the flat green block until it is supported by the flat block."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the small green block to align with the studs of the flat green block and presses it to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "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 green L-shaped block on the table, with fingers moving upward and away from the block."}, {"label": "subtasks", "start_step": 502, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward and upward from the green block toward the blue block on the table, approaching the blue block."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block vertically upward off the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block leftward and downward to the position directly above the green L-shaped block."}, {"label": "subtasks", "start_step": 668, "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: mate: Right hand aligns the blue block with the studs of the green block and places it onto the green block to form the assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00017", "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 blue block downward to secure the assembly fit, then releases the block with fingers opening."}, {"label": "subtasks", "start_step": 832, "end_step": 847, "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 its index finger toward the top surface of the blue block."}, {"label": "subtasks", "start_step": 848, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_hold: Right hand presses and holds the top of the blue block with its index finger, keeping still after pressing."}, {"label": "subtasks", "start_step": 930, "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: release: Right hand releases the green-blue stacked block on the table, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "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 rightward towards the orange block on the table, not yet touching the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block upward off the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block leftward to the area above the green-blue stacked block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the top of the green-blue stacked block, aligning and placing it into assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "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 orange block on top of the green-blue stacked block without moving."}], "episode_index": 38}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e27ddd36ab35899dcc51cdc87fb2579af9f1231
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,39 @@
+{"episode_index": 0, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1981}
+{"episode_index": 1, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 2059}
+{"episode_index": 2, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1923}
+{"episode_index": 3, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1983}
+{"episode_index": 4, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1668}
+{"episode_index": 5, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1559}
+{"episode_index": 6, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1624}
+{"episode_index": 7, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1675}
+{"episode_index": 8, "tasks": ["Task: stack_blocks"], "length": 1926}
+{"episode_index": 9, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1665}
+{"episode_index": 10, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1914}
+{"episode_index": 11, "tasks": ["Task: stack_blocks"], "length": 1699}
+{"episode_index": 12, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1978}
+{"episode_index": 13, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1546}
+{"episode_index": 14, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1714}
+{"episode_index": 15, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1650}
+{"episode_index": 16, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1885}
+{"episode_index": 17, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1731}
+{"episode_index": 18, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 2553}
+{"episode_index": 19, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1859}
+{"episode_index": 20, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1855}
+{"episode_index": 21, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1701}
+{"episode_index": 22, "tasks": ["Task: stack_blocks"], "length": 1467}
+{"episode_index": 23, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1967}
+{"episode_index": 24, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1570}
+{"episode_index": 25, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1568}
+{"episode_index": 26, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1465}
+{"episode_index": 27, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1659}
+{"episode_index": 28, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1780}
+{"episode_index": 29, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1727}
+{"episode_index": 30, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1492}
+{"episode_index": 31, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1763}
+{"episode_index": 32, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1375}
+{"episode_index": 33, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1470}
+{"episode_index": 34, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1465}
+{"episode_index": 35, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1550}
+{"episode_index": 36, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1503}
+{"episode_index": 37, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1392}
+{"episode_index": 38, "tasks": ["Task: stack_blocks"], "length": 1373}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65435377cd35bb6b162733c9db5419bd762ee655
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,39 @@
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ffe6fb8ee16e3bf61bc3a4028dfc6095e390a54
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 39,
+    "total_frames": 66734,
+    "total_tasks": 2,
+    "total_videos": 234,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:39"
+    },
+    "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/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_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/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..89fa2f6fe82037d53db43deba4ab271842db648b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,123 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"subtask_index": 5, "subtask": "Left hand: return_home: Left hand moves downward from its initial raised upright position to the left front home position, with slight finger posture adjustments during the movement. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}
+{"subtask_index": 36, "subtask": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}
+{"subtask_index": 62, "subtask": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}
+{"subtask_index": 63, "subtask": "Left hand: other:extend_fingers: Left hand extends fingers from the initial upright closed pose with slight wrist rotation, reaching a stable open-hand posture. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}
+{"subtask_index": 95, "subtask": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}
+{"subtask_index": 96, "subtask": "Task: stack_blocks"}
+{"subtask_index": 97, "subtask": "Left hand: other:adjust_posture: Left hand moves empty to adjust its posture at the left side of the table. | Right hand: reach: Right hand moves empty towards the large green building block on the table."}
+{"subtask_index": 98, "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 large green building block on the table."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the large green building block on the table with fingers closing and adjusting grip."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the large green building block on the table towards the robot side."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the large green building block on the table without moving."}
+{"subtask_index": 102, "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 standing small green block on the black table with fingers slightly open."}
+{"subtask_index": 103, "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 standing small green block and adjusts the grip to stabilize the block."}
+{"subtask_index": 104, "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 small green block off the table and moves it above the flat green block."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the small green block onto the flat green block until it is supported by the flat block."}
+{"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 adjusts the small green block to align with the studs of the flat green block and presses it to complete the assembly."}
+{"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 releases the green L-shaped block on the table, with fingers moving upward and away from the block."}
+{"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 rightward and upward from the green block toward the blue block on the table, approaching the blue block."}
+{"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 blue block on the table, with fingers closing around the block to form a stable grip."}
+{"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 blue block vertically upward 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 transports the blue block leftward and downward to the position directly above the green L-shaped block."}
+{"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 blue block with the studs of the green block and places it onto the green block to form the assembly."}
+{"subtask_index": 113, "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 blue block downward to secure the assembly fit, then releases the block with fingers opening."}
+{"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 its index finger toward the top surface of the blue block."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_hold: Right hand presses and holds the top of the blue block with its index finger, keeping still after pressing."}
+{"subtask_index": 116, "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-blue stacked block on the table, fingers open and separate from the block."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward towards the orange block on the table, not yet touching the block."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close and adjust to form a stable grip."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block upward off the table surface."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block leftward to the area above the green-blue stacked block."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the top of the green-blue stacked block, aligning and placing it into assembly."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the orange block on top of the green-blue stacked block without moving."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5ca5692ae0d075d301b3c9176c921e363bf7d4
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"task_index": 1, "task": "Task: stack_blocks"}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
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