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target peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 1638, "end_step": 1737, "id": "e792f4db-8813-48ad-98fa-58a7ea3a0dbe"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1738, "end_step": 1892, "id": "33de253d-65e0-4cd4-a38f-7f30067ed34d"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1778, "end_step": 1881, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}, {"label": "goal", "start_step": 1893, "end_step": 2167, "id": "ffcdec9c-83b7-43d1-8ec7-0cbddc2b9402"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 2168, "end_step": 2387, "id": "d03147d4-e251-4158-a665-79cf18dc7de4"}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "goal", "start_step": 2388, "end_step": 2492, "id": "fcf690a2-4093-46a1-b8b7-33898a2ad3e4"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2493, "end_step": 2662, "id": "5b2493f5-6143-47a2-9743-0f829a107148"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "goal", "start_step": 2663, "end_step": 2737, "id": "e120a494-c491-4726-be6c-fbc7656c58a4"}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "goal", "start_step": 2738, "end_step": 2907, "id": "b919859c-1f6f-49d4-ad18-e08fa66c63e3"}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 2951, "end_step": 2978, "id": "imLQOLR2vKP7Z77KbjKX8"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward from the right side of the black table toward the central block rack, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the central rack, with minor adjustments of fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green block upward to separate it from the support peg on the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the green block moving downward and leftward to the target position on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the green block downward onto the black table until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to secure it in place, then releases the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white hexagonal block on the same peg and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward along the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring-shaped part onto the left purple post and releases the part."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to above a purple peg on the pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning it and lowering it down the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the left purple peg and releases the piece."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the front-left purple peg and lowers the piece down the peg to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow cylindrical part onto the purple peg of the wooden pegboard and releases its grip on the part."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the table in front of the pegboard and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table in front of the wooden peg board, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and moves it upward and toward the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the middle purple peg, fits it onto the peg, and makes minor vertical adjustments to the part's position on the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1778, "end_step": 1881, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}], "episode_index": 0}
+{"source_uid": "38aeb8f17df4b0d6", "num_frames": 3003, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "803f0c8c-3ca7-4044-859e-de94e1e86532"}, {"label": "valid", "start_step": 0, "end_step": 2975, "id": "li0fzGBvTOLB8XxxjwQod"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 315, "id": "7227ce29-66b0-4f13-9c7e-df4c606baf3e"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 316, "end_step": 380, "id": "6e5c7ffa-3478-4ce0-a073-eecbf35a2203"}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "goal", "start_step": 381, "end_step": 535, "id": "5d9d80a1-212a-455e-9d62-2e2c85aeed9d"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 536, "end_step": 610, "id": "f7d08fd6-a907-4d90-9dd3-9b3821102d5a"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 611, "end_step": 1010, "id": "be528fc3-b94e-4745-a7ac-5c07bfc58f4d"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "goal", "start_step": 1011, "end_step": 1055, "id": "73c4b812-75b6-45b2-9745-7df07237c662"}, {"label": "goal", "start_step": 1056, "end_step": 1200, "id": "566a9581-29e2-43dc-8342-55c9c5cc3920"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1201, "end_step": 1270, "id": "d53d81d1-a16e-43cc-b8df-af0c22d506ae"}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1400, "id": "8da1ada1-53bb-4c9e-b676-7d57e21b549f"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1401, "end_step": 1465, "id": "22eb341f-a76e-4e61-9dbb-e76cd01ae733"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1466, "end_step": 1825, "id": "b52c76be-85dd-4bfa-8eb0-6b3aaa8900b3"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "goal", "start_step": 1826, "end_step": 2365, "id": "478e5425-2676-4d03-87b4-41d910af4531"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "goal", "start_step": 2366, "end_step": 2495, "id": "5ec32319-c85e-42e6-9c35-9ff62c0912b2"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2496, "end_step": 2560, "id": "b58ebab4-86d2-43bc-92db-cd66fc77c9a9"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2561, "end_step": 2700, "id": "40af0d1b-da15-428a-a8f9-bf104afc381f"}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "goal", "start_step": 2701, "end_step": 2795, "id": "1cd8da7f-6b3b-4316-82fd-8e51f1267b94"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2796, "end_step": 2940, "id": "77b7105e-b967-4f84-a0f3-c52e42fec78a"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}, {"label": "home", "start_step": 2976, "end_step": 3002, "id": "5eNXO_h1ybynXsO4bbF37"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}], "episode_index": 1}
+{"source_uid": "1599f40e13fad3c3", "num_frames": 2168, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "c7d04a2b-60c0-4611-9f8a-77eaffe1042d"}, {"label": "valid", "start_step": 0, "end_step": 2140, "id": "6URSlmtc9OQ_2228aU4uA"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 221, "end_step": 365, "id": "4d934f5a-a977-4e43-8ead-59a39ae5e9c7"}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "goal", "start_step": 366, "end_step": 430, "id": "83848e12-68c4-471c-b513-19d33aae2b2a"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 431, "end_step": 585, "id": "b171322a-b104-4c9f-acd1-bf1c839ab648"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "goal", "start_step": 586, "end_step": 655, "id": "6373217d-594f-4935-9e21-c2eda2ce3a32"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "6300a3e2-0814-4cfe-a72e-79c49999391d"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 895, "id": "7f2583b1-74c6-4b20-8292-b026a389e636"}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "goal", "start_step": 896, "end_step": 1050, "id": "78425eae-b303-4f3f-bef9-09d3ca907a3b"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1051, "end_step": 1100, "id": "244e7277-6aea-435b-a013-59ee04281014"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1101, "end_step": 1230, "id": "fd41635b-c79f-465c-8b8a-29eee41b5a42"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "050d1b8d-251e-4a37-bbe0-6268bbd05e31"}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "goal", "start_step": 1301, "end_step": 1470, "id": "fee9d0c3-fd1b-44bf-bae5-fd688244c7fe"}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 1471, "end_step": 1530, "id": "3ee7aa47-7161-47d3-b907-fced444bc6df"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 1531, "end_step": 1655, "id": "96be7785-7a8b-47f8-b4df-9246bb161a22"}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1656, "end_step": 1725, "id": "638d3a50-36df-4e23-ad7b-c4274b3d2c69"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "goal", "start_step": 1726, "end_step": 1920, "id": "37c21f73-5ec9-4dca-8cc8-94244b10b820"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "goal", "start_step": 1921, "end_step": 1975, "id": "1a10ebec-030c-46a8-8d17-33477cfd1a58"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "goal", "start_step": 1976, "end_step": 2095, "id": "61b5e192-4097-4cc8-bd83-453f2039a55c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}, {"label": "home", "start_step": 2141, "end_step": 2167, "id": "qoOZFNDQxxjYyh5NdbHKa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}], "episode_index": 2}
+{"source_uid": "2aeb3d8a77a44dd0", "num_frames": 2025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6b6e85d9-2970-4e46-b4d2-a11c8dfa0a6b"}, {"label": "valid", "start_step": 0, "end_step": 1992, "id": "Mvd2p787BZi_fR5Jge8G1"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 280, "id": "b7d5e327-5e9f-4c6f-8b1b-8ef62fa80305"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 281, "end_step": 340, "id": "5e7e8c2a-7573-4f36-bb2f-91c691424818"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "goal", "start_step": 341, "end_step": 475, "id": "c67aa3f9-e67f-4747-a1fc-163e8732fe99"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 476, "end_step": 535, "id": "85a86158-eee0-47e2-8186-2071e9402fa7"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 536, "end_step": 770, "id": "4be62c98-ae44-4de8-ba0f-a846b8c1a5f0"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "goal", "start_step": 771, "end_step": 825, "id": "2b473f95-73c0-41f1-9ae0-e16b7239c075"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 960, "id": "15bc99c9-9263-4403-8424-66ef18915047"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "goal", "start_step": 961, "end_step": 1025, "id": "031cbf8e-cc6d-4d4d-9c27-ff1a0f37b1c4"}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1026, "end_step": 1145, "id": "65b4acf3-e0ac-4b80-877f-1a090d955268"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1146, "end_step": 1205, "id": "b90c5765-f1be-4692-936f-abac4fcc4e38"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "2744936f-d2bb-45de-b8f2-7c5fe1fdeaba"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1380, "id": "b74b4e3c-a60f-4e30-8b74-eadbd517269d"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1381, "end_step": 1550, "id": "c7caf495-7a7e-4a36-a358-4eb2cc5056e9"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "goal", "start_step": 1551, "end_step": 1615, "id": "beafef45-bbed-49d2-bd5f-83a973e0208a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1745, "id": "f7aacb9f-9071-4154-b4e2-0e63b3072648"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "goal", "start_step": 1746, "end_step": 1815, "id": "9814f903-988d-4b19-ac50-f323dea94d98"}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "goal", "start_step": 1816, "end_step": 1950, "id": "00866fef-3840-495b-a4ce-a25697423c7c"}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}, {"label": "home", "start_step": 1993, "end_step": 2024, "id": "mfdF9UAGZ2sCs54Nxr8Ei"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}], "episode_index": 3}
+{"source_uid": "c42ddb79197afbe6", "num_frames": 2030, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "45b83f39-3b70-4d1d-b8dc-8c4c819c00c6"}, {"label": "valid", "start_step": 0, "end_step": 2001, "id": "Kv3yvgtom3ConWEskPFIm"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 116, "end_step": 250, "id": "2c06ade9-a656-48c9-9cc1-260218b13152"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 320, "id": "4374f89c-7c13-475d-b5ca-b93f83ccecee"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 321, "end_step": 455, "id": "c7a176b7-94b2-4910-b1a3-324ab6ec5b26"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 456, "end_step": 530, "id": "9fa98738-6701-4e8d-9879-df96b1766d9a"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 531, "end_step": 660, "id": "6d62d200-1643-4647-9222-e6618a6b2ecc"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 661, "end_step": 725, "id": "d29c542d-c3fe-4d16-b592-4117a21052fa"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 726, "end_step": 855, "id": "b06eda1b-449f-4667-863d-1b19ad515bb0"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "9379f2ab-d69b-4e89-83ef-2cf53a008145"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "eb6e7f7e-8418-4e8b-a290-727f51b1b317"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1270, "id": "c5717cd8-c8a3-46f2-9bc3-94400f03770f"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1271, "end_step": 1415, "id": "b85444ee-c022-4d4a-a6b3-46cd874d54a3"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1500, "id": "687ee248-d98f-4bc7-8f19-6a327512e1a4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1615, "id": "6278c80a-4190-43da-95a0-6fd6c458771c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "goal", "start_step": 1616, "end_step": 1675, "id": "b16a7cc9-f8ae-420d-81fb-9ae4ba99c315"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1676, "end_step": 1782, "id": "41915b1c-321d-4d45-8292-24c31b953a75"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "goal", "start_step": 1783, "end_step": 1842, "id": "f43ac6ec-1e9c-4b8e-a89d-758a8a22bb25"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1843, "end_step": 1967, "id": "87866c8f-87fa-4957-be4a-18f7b6005825"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}, {"label": "home", "start_step": 2002, "end_step": 2029, "id": "0mo1Dde824HQsYbY8F7lg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}], "episode_index": 4}
+{"source_uid": "007b76ed2478ccdd", "num_frames": 2139, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "895ca5e2-0e83-4a00-b32a-412f086d684b"}, {"label": "valid", "start_step": 0, "end_step": 2106, "id": "DHFiLctO_qrmACIDAsMMa"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "goal", "start_step": 141, "end_step": 265, "id": "4bb09a1c-0a3a-4149-a9df-e45f5460f16f"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "goal", "start_step": 266, "end_step": 475, "id": "f46b1362-7b6c-47b3-9e3f-bf4627b654ea"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "goal", "start_step": 476, "end_step": 610, "id": "d0bc2172-4f14-4ba0-9692-1588027124bc"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 611, "end_step": 685, "id": "7f1a21f8-fb2d-4032-874b-1499dd413caf"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 686, "end_step": 810, "id": "7bbff2f2-e8b8-47d5-8a05-a3419ffc2ad3"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "goal", "start_step": 811, "end_step": 880, "id": "72bec814-bcec-4482-a345-1174a8fdb7ca"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "goal", "start_step": 881, "end_step": 1000, "id": "15b16b6d-f1e3-4186-a15d-201a2dd99784"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1001, "end_step": 1080, "id": "53799dbd-9e11-45a4-aee8-ebc657dc260f"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1081, "end_step": 1225, "id": "f8a32900-6334-4c84-9fdb-b103590c55cc"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "goal", "start_step": 1226, "end_step": 1310, "id": "5c987805-361d-4756-bb45-62f9a36c1243"}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1311, "end_step": 1435, "id": "a9c0db38-b1bf-41c1-8da9-07df99a7abdf"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "goal", "start_step": 1436, "end_step": 1510, "id": "b84a4375-0f42-4b9f-a8fc-83df48f08dee"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "goal", "start_step": 1511, "end_step": 1670, "id": "8b01b7db-0d23-4e8b-879b-26cf5f93484a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "05cc0eec-9080-4e96-baf2-35e37414cb50"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1875, "id": "4a5113a7-63ab-4701-a80b-2480a3a8f822"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1876, "end_step": 1945, "id": "75914211-9598-4776-81c0-ac0d9d6bfd42"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "goal", "start_step": 1946, "end_step": 2065, "id": "253aa68f-a588-41d3-8968-70b7fceb6403"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}, {"label": "home", "start_step": 2107, "end_step": 2138, "id": "l4ZBNyPiqgxLoSuwcOw36"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}], "episode_index": 5}
+{"source_uid": "f26b99acecef5f87", "num_frames": 2136, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "88b8c4a0-ac56-4d33-8f4b-cd59afd2ea3d"}, {"label": "valid", "start_step": 0, "end_step": 2104, "id": "rnl4QRNDAPBMbbfAoN0JQ"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "goal", "start_step": 156, "end_step": 330, "id": "6db0e960-a523-4d36-9985-c985c9566870"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "goal", "start_step": 331, "end_step": 380, "id": "ce7d43b6-27d0-4b1a-83fd-e8ee04d62b2a"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "goal", "start_step": 381, "end_step": 545, "id": "dab56fcc-5115-406c-a618-7ce16257eca7"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "goal", "start_step": 546, "end_step": 615, "id": "0495e783-f01a-4907-ab0a-ea1829c52562"}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 616, "end_step": 775, "id": "7b422736-6b73-4c92-9229-206c756cf37f"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "goal", "start_step": 776, "end_step": 850, "id": "f451f33d-69de-4fe6-9b69-18432199ed0f"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "cd6bd78a-51d5-4600-8f8b-fb5535a62038"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "goal", "start_step": 971, "end_step": 1030, "id": "1e28f5f0-ca3b-4a29-a17b-521ce477f328"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1031, "end_step": 1140, "id": "5775e0a3-124a-4863-a09a-f4a0c898928a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1200, "id": "bfe52bab-5ec1-4bb3-bff2-8009365ae9a7"}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "goal", "start_step": 1201, "end_step": 1315, "id": "46d3e7c7-aa3f-4e34-ac80-079cfa65866d"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "goal", "start_step": 1316, "end_step": 1395, "id": "4f4e7f80-0345-432f-ae49-dbc0b048af56"}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1500, "id": "91080bd7-cea0-4073-ab36-5c337a9bc1c7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "goal", "start_step": 1501, "end_step": 1735, "id": "02af6453-0d1a-4c3c-8f58-a9ba0049996d"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1870, "id": "61872641-bef0-469e-a065-a93fff2cef2c"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1871, "end_step": 1940, "id": "ee463186-eb41-450e-8d2e-a829509207a3"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2065, "id": "68205b5c-edc1-4cbe-836d-9b8c98acb49a"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}, {"label": "home", "start_step": 2105, "end_step": 2135, "id": "i66yhKOOl7sdVC7_7JRsa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}], "episode_index": 6}
+{"source_uid": "3775dfbad9b73d3f", "num_frames": 2180, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "846e1a45-8a09-4f94-8258-88bcf9dd4554"}, {"label": "valid", "start_step": 0, "end_step": 2149, "id": "7vZ_KcgPHqufCvhYEubLv"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 171, "end_step": 350, "id": "60347878-fc0b-44fd-bab3-1ebd11f23238"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "40d6b73a-37a4-4080-8812-40d684243db7"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 560, "id": "3b56bb0d-cf8d-4222-87fe-05533ae95a99"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 561, "end_step": 635, "id": "8ef2ff99-9a74-4639-8db2-b0cf634798a4"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 636, "end_step": 810, "id": "84f98c51-f881-4865-935a-5f5beb0f7fff"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 811, "end_step": 895, "id": "013c2290-006a-4a95-9e48-f22d9da4c5b1"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 896, "end_step": 1025, "id": "99df17ad-a703-45ad-acf9-94ce799c6c14"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "goal", "start_step": 1026, "end_step": 1110, "id": "ff8594dd-645b-4bc8-b259-eb36cd65fd3c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "goal", "start_step": 1111, "end_step": 1215, "id": "82e284f4-a043-45d8-a35e-810d2679d4fd"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1216, "end_step": 1285, "id": "9261b847-d12d-4d08-af59-6ef2d93a1391"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 1286, "end_step": 1415, "id": "0ad9f1fa-5970-4ded-bc24-bde88b4aa9f5"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1460, "id": "07717c65-a669-49f8-92e6-28840da6d3e1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1461, "end_step": 1620, "id": "82d0f595-f85c-4898-afa3-48fa72219ecf"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1621, "end_step": 1690, "id": "b4a89c98-0ede-4af8-9aec-69bf1b7a1e6e"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1691, "end_step": 1925, "id": "007aef89-b943-4105-95a1-f67143f71367"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "1fcee488-3c85-4501-9f25-74882a64edcf"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1986, "end_step": 2110, "id": "5fd29bb2-cebd-4ea5-9a7d-7ba95e3b36d0"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}, {"label": "home", "start_step": 2150, "end_step": 2179, "id": "ydCBdCPmRBG6Pep-sQOTq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}], "episode_index": 7}
+{"source_uid": "71ee42684fa22726", "num_frames": 2119, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 227, "id": "7b23a8b4-8770-4af9-a3d3-35d58e6e1ed8"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "uNS2gzp2eRMb5DxMo80Z6"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 228, "end_step": 512, "id": "c1966246-afc5-42b3-b2cb-9eecf71cee97"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "goal", "start_step": 513, "end_step": 592, "id": "d4a2897c-a2ba-4f60-91ac-9d19f949ba0b"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "goal", "start_step": 593, "end_step": 712, "id": "8dbae334-49eb-47c6-b2aa-9c0666077b15"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "goal", "start_step": 713, "end_step": 792, "id": "16701e46-2918-417f-8814-86ed30240881"}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "goal", "start_step": 793, "end_step": 917, "id": "4ce7278a-3c6c-4497-bfdb-1eda3de72d9c"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "goal", "start_step": 918, "end_step": 987, "id": "7dfe047b-a712-408d-a249-1ba0f02731fb"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "goal", "start_step": 988, "end_step": 1102, "id": "113848ee-4374-4473-b998-8c5b581f6844"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "goal", "start_step": 1103, "end_step": 1167, "id": "a3d2f33e-75a9-4d9b-a405-7165974573ac"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1168, "end_step": 1272, "id": "a487bde6-6581-404c-8607-472d31d5bf32"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1273, "end_step": 1357, "id": "65d0f5e2-3260-4bf5-bfc7-e81142fca3e2"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1358, "end_step": 1472, "id": "0b928197-3104-4df3-b877-697a380bc2b5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "goal", "start_step": 1473, "end_step": 1532, "id": "df21d5c7-47c1-43a8-ab78-1f905ac368ac"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 1533, "end_step": 1637, "id": "efeab232-4b32-4ccd-97d5-989c20d316b5"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "goal", "start_step": 1638, "end_step": 1707, "id": "ce58db7d-593d-4045-8c54-503e3bf5120a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "goal", "start_step": 1708, "end_step": 1812, "id": "1621befa-b7a0-4de8-9c17-dfe728ce937c"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "goal", "start_step": 1813, "end_step": 1897, "id": "31a0648d-7655-4103-a28a-88ab5a495c94"}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "goal", "start_step": 1898, "end_step": 2052, "id": "bfa3dd24-5379-4102-b62a-f16e453067bc"}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}, {"label": "home", "start_step": 2085, "end_step": 2118, "id": "qkSspcvvMnVv4N5jydODc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}], "episode_index": 8}
+{"source_uid": "513864a75e22744d", "num_frames": 2713, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "b4215081-61a5-4ed8-8260-6798d9011e55"}, {"label": "valid", "start_step": 0, "end_step": 2679, "id": "-izBcOl6OyBW1V23CTk4q"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 360, "id": "d7022695-2b7e-40bc-965f-67aad6aebc1e"}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 361, "end_step": 435, "id": "62c1b1d0-072f-48eb-be0d-bad908f51901"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "goal", "start_step": 436, "end_step": 570, "id": "999cbd52-b4f0-40e3-bfa0-24e29b9cb56b"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 571, "end_step": 640, "id": "1f889287-68a1-43e7-b972-0f608446ea07"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "goal", "start_step": 641, "end_step": 795, "id": "d51aa309-9e48-42da-9dc9-0ec9e44c48fa"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 796, "end_step": 870, "id": "e0873649-c10b-49c3-a84e-d6518627222c"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 871, "end_step": 995, "id": "bb10d017-5a14-431f-9db0-97e13e6e6a87"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "goal", "start_step": 996, "end_step": 1060, "id": "ac5db43e-56b3-49e1-aded-25bb07a01ad9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1155, "id": "87bc00ad-b63a-45fa-a630-ca89ff4195be"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1240, "id": "ef03fd54-e6cd-4bd6-9121-ade3eff21a79"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "goal", "start_step": 1241, "end_step": 1345, "id": "e22a70ac-9071-433d-a549-f3d4f4d603a3"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1346, "end_step": 1410, "id": "ea16ff3f-9e26-4219-93dc-721a60cc166f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1411, "end_step": 2110, "id": "02f88ee5-0544-4a15-8719-042f73f6f913"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2111, "end_step": 2180, "id": "902ae01a-ed8f-4d65-b1c4-ab76548b2a4b"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2181, "end_step": 2315, "id": "89003fc1-b110-4259-934f-b9f5b3465f54"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 2316, "end_step": 2390, "id": "b338fbf1-b127-4d89-b5cd-f6392274e143"}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2391, "end_step": 2637, "id": "6f790415-afd2-44a9-8c9a-d66c98e3a09a"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}, {"label": "home", "start_step": 2680, "end_step": 2712, "id": "XFzqlucLlT5VdnsBR7FXK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}], "episode_index": 9}
+{"source_uid": "73bd649b6540e5d6", "num_frames": 2361, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "ae3a0d33-2b75-4796-b860-5b8dd19d269b"}, {"label": "valid", "start_step": 0, "end_step": 2329, "id": "MvIgK8wXQ035GTXtdg1af"}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "goal", "start_step": 146, "end_step": 285, "id": "81ad4dc9-2803-4ad9-bfd7-aaf901aaf027"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "goal", "start_step": 286, "end_step": 370, "id": "61cf4ea8-0cde-4c2b-84f8-cf00d6336715"}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 371, "end_step": 515, "id": "59f84b89-3988-488f-9c07-c3cec5fc3b8f"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 516, "end_step": 595, "id": "75224172-73c2-4cfd-852f-7d334ededa3a"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 596, "end_step": 845, "id": "f1607859-1cec-4e55-8e59-e6b6a2e4ca06"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 846, "end_step": 950, "id": "578ed4be-49ff-440a-a256-334acf28b751"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 951, "end_step": 1105, "id": "7e6d7210-e4ad-4981-9d41-a3d3909362b0"}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1106, "end_step": 1160, "id": "75dc598c-6313-4c3c-ae0b-9b8147f05010"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 1161, "end_step": 1285, "id": "1eab20ca-13e2-403b-9248-019699d08729"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "goal", "start_step": 1286, "end_step": 1355, "id": "c24a2e94-a38c-4c08-9254-3da8fc28f513"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1356, "end_step": 1490, "id": "bf7ed551-c18e-4df3-9eea-12200065257f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1575, "id": "32cbb961-07a7-479c-a863-4631ec83602a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "goal", "start_step": 1576, "end_step": 1680, "id": "67734bf0-efbe-4646-92a6-a837e656bcec"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 1681, "end_step": 1735, "id": "db9058ad-f9a7-428b-bc94-e3b0c5f014e6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1865, "id": "2b924305-5d8a-4f01-b1d8-d2e84e0be9be"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 1866, "end_step": 1920, "id": "c3acd839-6a1d-4903-98c8-18c96a942cdf"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2290, "id": "80569fb5-e002-4ed1-ba68-7a01c2cc3ed5"}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}, {"label": "home", "start_step": 2330, "end_step": 2360, "id": "XM3kHk60K8e2xP04PJOQ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}], "episode_index": 10}
+{"source_uid": "6e79b6e46fa22544", "num_frames": 2160, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "1505641c-39da-4db3-9b6e-50d68070a4e8"}, {"label": "valid", "start_step": 0, "end_step": 2131, "id": "ctjQhpHI1ex6qPIvJXU7M"}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "ad5c976a-b205-4175-8a5b-58c99b754fb6"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 410, "id": "f0ade8a3-954d-4abd-8fc5-da3cae36cef1"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "goal", "start_step": 411, "end_step": 575, "id": "3df57f8b-1e80-4375-bb3d-2b69cac3c200"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "goal", "start_step": 576, "end_step": 650, "id": "67908d50-0f5e-48bb-8b75-12bc8a527efd"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "goal", "start_step": 651, "end_step": 775, "id": "97a16225-8daa-4e5c-bf90-7d351368f88c"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "goal", "start_step": 776, "end_step": 840, "id": "ee38a8d2-ec2c-4028-a8cb-220681020707"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 841, "end_step": 1005, "id": "55936fdf-f789-4f71-9699-42f526b1db22"}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1070, "id": "4cf4139d-f04d-4b41-ad7c-a740df2007ee"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1195, "id": "700e4683-213f-41eb-9ea6-dc17e0945faa"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1196, "end_step": 1280, "id": "7f33cf3d-c762-4c8b-9338-05e093cf89a4"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "goal", "start_step": 1281, "end_step": 1410, "id": "1b7fb995-8a99-4f0f-bb0e-63cab472a142"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "goal", "start_step": 1411, "end_step": 1495, "id": "93685480-cf1e-4ceb-9ee2-a96506490921"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1730, "id": "beaceed0-cba2-4734-a09d-af8b04802735"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "goal", "start_step": 1731, "end_step": 1815, "id": "a8bc398e-acfa-4782-b058-5b3aa2620a9b"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "goal", "start_step": 1816, "end_step": 1920, "id": "a974854e-6f27-482d-802e-703fa7d577a1"}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "goal", "start_step": 1921, "end_step": 1980, "id": "0ecc264e-0d0f-4834-a765-cc841707eaf2"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1981, "end_step": 2090, "id": "a77f5110-a61d-4d9d-b376-bf525f0d88e2"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}, {"label": "home", "start_step": 2132, "end_step": 2159, "id": "SnByDeBF_npKvgXWIw1oL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}], "episode_index": 11}
+{"source_uid": "701e91aedf2427d0", "num_frames": 2774, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "674eda58-bcb0-4fa8-9713-46391e8c929c"}, {"label": "valid", "start_step": 0, "end_step": 2743, "id": "PqrQ_9HrAHqKAgdwh-SIr"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 111, "end_step": 240, "id": "81928e97-1a64-40d2-b0eb-278ba6333f42"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "goal", "start_step": 241, "end_step": 305, "id": "e7556ab1-17bd-497d-8da6-7c6f378a53a3"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "goal", "start_step": 306, "end_step": 445, "id": "58e14c22-f948-452e-9814-238a7e3fa84e"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 945, "id": "8114bae9-bae6-4d89-9ac1-871b6e5acee0"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "goal", "start_step": 946, "end_step": 1170, "id": "ac9f113c-421f-4577-8bcc-3c9ff44517f5"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 1171, "end_step": 1265, "id": "941140af-4ebf-46a6-94b1-295110aeb250"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "goal", "start_step": 1266, "end_step": 1380, "id": "61efaf2e-c933-4f91-a1be-8ca5a9527593"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 1381, "end_step": 1440, "id": "c6166581-0278-48a3-8d47-1afefedc373d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "goal", "start_step": 1441, "end_step": 1555, "id": "84dd711a-dccb-4c26-9735-18c7fac3e858"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1556, "end_step": 1625, "id": "f0e3a35a-de8d-4695-9b7f-1eb22ab3f994"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1626, "end_step": 1735, "id": "9251c709-4cbc-4c7b-8683-0fc17a687104"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1736, "end_step": 1810, "id": "30f59c8b-92a5-416c-8ae7-015391a5d432"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 1811, "end_step": 1920, "id": "f10cfb62-5035-48a8-99af-4aaf2f8f140d"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "goal", "start_step": 1921, "end_step": 2310, "id": "da9d1c23-d50e-4a49-af97-cdf10dee6911"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "goal", "start_step": 2311, "end_step": 2435, "id": "f417372f-3199-45ce-97bb-4b46537a2177"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "goal", "start_step": 2436, "end_step": 2600, "id": "f28beb22-5c9d-4868-ac51-c6a81d75955d"}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "goal", "start_step": 2601, "end_step": 2700, "id": "a84767cf-95e7-4fcc-a3ed-4f78635f569b"}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}, {"label": "home", "start_step": 2744, "end_step": 2773, "id": "6d-8zDj-dcZIS1BdrSRx0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}], "episode_index": 12}
+{"source_uid": "5d8411ae17da0a34", "num_frames": 2130, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "8dff8850-4897-4496-ac03-30ab00ad04a9"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "_VrCGpU0ioZKjusFKl5gk"}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "goal", "start_step": 161, "end_step": 295, "id": "a43f2388-a02b-4610-9da0-1d628e41d68c"}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 296, "end_step": 355, "id": "340a962e-668f-41c6-8539-f8fb19775bcb"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 356, "end_step": 450, "id": "411a18f3-fa44-44cb-a0a5-1c8fff62b8ee"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 451, "end_step": 510, "id": "ffd2772e-88a2-4970-aa77-e3fa92055593"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 511, "end_step": 675, "id": "97a8a214-f2d6-48ac-a433-ff138b556f89"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 676, "end_step": 735, "id": "886ed51b-46c9-44d4-af4a-7bdc3ee67dcd"}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 736, "end_step": 1020, "id": "44c86290-dfe3-4d80-8f03-21fc1554d161"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1120, "id": "ce34ac8c-2db8-45e3-80fe-9a638d12fba4"}, {"label": "goal", "start_step": 1121, "end_step": 1260, "id": "d73a2821-8111-474e-b989-9935b01400f9"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "goal", "start_step": 1261, "end_step": 1320, "id": "d3f10b0a-b41c-4ad5-be53-003ddadb25b6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1430, "id": "1d03f486-3974-4557-b291-914f1b209fe0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1431, "end_step": 1495, "id": "1864a0b1-e85b-4ed1-99d2-6e7c5505fbe4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 1496, "end_step": 1605, "id": "309ca8ce-eef2-4bef-8b60-72a48cff93d4"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1675, "id": "ff24669c-1090-41d1-8819-467fb7986d35"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1676, "end_step": 1860, "id": "a6ed0475-3061-4797-ae7e-f673f9d3468d"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1861, "end_step": 1925, "id": "3da0d9bd-1db3-4f2d-af13-cbcf8d956403"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "goal", "start_step": 1926, "end_step": 2070, "id": "d3588494-531c-4e52-a5c9-c706c79577fc"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}, {"label": "home", "start_step": 2099, "end_step": 2129, "id": "XKQvJDWBCNE91sZngwubg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}], "episode_index": 13}
+{"source_uid": "a2c86d6e0f19ecc2", "num_frames": 2194, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "53f8faf5-f4aa-4d32-a600-3b30a81dfa4f"}, {"label": "valid", "start_step": 0, "end_step": 2164, "id": "mgeEeccOHJSvIknus2b-8"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "goal", "start_step": 146, "end_step": 270, "id": "2062f824-0a56-4c06-9b6d-47dbf0eebba8"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 271, "end_step": 355, "id": "03679350-74e7-4c46-a961-d3bd55d76ca9"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "goal", "start_step": 356, "end_step": 520, "id": "d15f606a-bfbf-4672-850a-4bf8a7583975"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 521, "end_step": 605, "id": "8f7049d1-2772-4d2e-84b6-23ebd47db2e0"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 606, "end_step": 725, "id": "6c901ec6-41f9-4691-937f-57cf397856ce"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "goal", "start_step": 726, "end_step": 790, "id": "7f70b106-bd0e-4b20-ab2e-bc56f99fc930"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 791, "end_step": 900, "id": "64dca41a-ef7b-4879-8ea3-7499ad158df8"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "70cbf4bc-8b49-4200-b32f-297751fd9ce7"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 971, "end_step": 1170, "id": "7dabe4ad-8e6f-44eb-9ac7-71934303c371"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1171, "end_step": 1180, "id": "fef955bc-012c-4775-ac10-4b049f5115e6"}, {"label": "goal", "start_step": 1181, "end_step": 1330, "id": "fa5f2184-1578-46b0-b70e-e8316592c2ae"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "goal", "start_step": 1331, "end_step": 1390, "id": "2e96e381-9f20-4967-a574-d80ea68c0a68"}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1615, "id": "9424cc03-ec50-484c-922a-34f15a9d6bac"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "goal", "start_step": 1616, "end_step": 1780, "id": "f1582df7-8f99-4839-8b9c-48c7e599caf1"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "goal", "start_step": 1781, "end_step": 1925, "id": "cd8ff266-495e-486e-b816-e7a15ac74132"}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "6e54c5d6-01b9-450c-88fa-93e2112f7097"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2135, "id": "bd68068e-8e24-49e5-b5fc-beb2ad8ac4ea"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}, {"label": "home", "start_step": 2165, "end_step": 2193, "id": "44kZujFMY-kPrE1yiOO9w"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}], "episode_index": 14}
+{"source_uid": "472e2ea0f4ee4d23", "num_frames": 3038, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "9846c0d6-6379-4a5f-8000-8a303f6af7ae"}, {"label": "valid", "start_step": 0, "end_step": 3009, "id": "G21jYmAxIjZIZu9RpFYy4"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 146, "end_step": 250, "id": "288826c7-c1b7-4f91-a9f4-6d028558903d"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 251, "end_step": 310, "id": "638b61ec-0054-4635-97a8-dbd4f9c84f78"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 311, "end_step": 435, "id": "3699e181-f085-4d91-b012-c04d2371f15a"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 500, "id": "fdae4e60-1103-4df7-a01f-8bef8d99974f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "goal", "start_step": 501, "end_step": 700, "id": "8bd4244b-b22e-42e2-8df3-c0fa4545d57e"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "72e87c45-70bd-4fb1-9781-684ac3cab81a"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 766, "end_step": 945, "id": "7b7d6ef5-6627-42e1-b006-b21dbecf7b90"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "goal", "start_step": 946, "end_step": 1025, "id": "08791dcf-a726-4bd7-9615-a243094cc2e5"}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1026, "end_step": 1135, "id": "ad227624-81f7-48f0-99b4-d9e984b6c7fb"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1136, "end_step": 1770, "id": "2f3359d9-1afa-463c-95ed-89ba2a15f0b4"}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1771, "end_step": 1915, "id": "816997b7-7e37-437e-8416-5fa0939660d5"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 1916, "end_step": 2125, "id": "864c6c03-b0cb-4105-a6e6-32c1ac2eb9df"}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "goal", "start_step": 2126, "end_step": 2270, "id": "dde1ca12-9ca8-4158-9f17-91263e51956c"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "goal", "start_step": 2271, "end_step": 2615, "id": "8c531ffb-4681-49f8-89ba-34e4faa6ebc3"}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2616, "end_step": 2750, "id": "a9016045-c186-47d4-a9f7-55c94673b739"}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "goal", "start_step": 2751, "end_step": 2830, "id": "d115458a-3d2d-4322-b715-b6fae8931534"}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2831, "end_step": 2980, "id": "e45043a7-4d4d-48c7-bdda-1e936e3549e1"}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}, {"label": "home", "start_step": 3010, "end_step": 3037, "id": "BSqjpFDFzASebG7XqkVGU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}], "episode_index": 15}
+{"source_uid": "dda6f7dc02412b2c", "num_frames": 2118, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "226a95b0-96cf-4d9e-925a-1b992c840d67"}, {"label": "valid", "start_step": 0, "end_step": 2090, "id": "FD-NnB_4IMt90yFpkXPNJ"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 116, "end_step": 240, "id": "ee38ebcd-3e07-48e2-b26a-f54e222ca256"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 241, "end_step": 300, "id": "b8c08569-532c-4870-850c-4c0bd422d0b3"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 475, "id": "2af051a3-861b-47b4-8b10-97c5e948f8ea"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 476, "end_step": 530, "id": "9a841d99-e000-4ea7-8a1c-b656c7405300"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "goal", "start_step": 531, "end_step": 645, "id": "9587f183-ac13-4254-96de-72e28bcdb6e3"}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "goal", "start_step": 646, "end_step": 725, "id": "40b7e4d9-06c6-444c-9972-ab7a7fa5f9bc"}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 726, "end_step": 960, "id": "88f500e5-b9e5-42ff-8f6e-ca7e9f53a94a"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "goal", "start_step": 961, "end_step": 1040, "id": "346c0982-5fa4-4757-b54f-aef9bd27e262"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "goal", "start_step": 1041, "end_step": 1175, "id": "f5ac83e7-8fa0-404c-ac9d-1414873dd672"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "goal", "start_step": 1176, "end_step": 1240, "id": "e1681dae-e811-4d97-9477-104414e12fc6"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1241, "end_step": 1365, "id": "c73d30d6-d07d-45fa-a5e6-0319f630b2ba"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1366, "end_step": 1430, "id": "a6017312-b121-43d0-813b-075dc25c349b"}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1431, "end_step": 1535, "id": "cada37d4-ceb9-4abc-922a-2ab5c5c88fe5"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "goal", "start_step": 1536, "end_step": 1605, "id": "59d85d97-8909-4b21-bc6b-e475a781207d"}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1705, "id": "a3098263-03e6-4e90-aa02-4ac25532728d"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "goal", "start_step": 1706, "end_step": 1775, "id": "4226113c-8638-43b5-b822-753e829f654c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "goal", "start_step": 1776, "end_step": 2075, "id": "8b00dbb4-1b86-46b7-8bc4-4131c8b3aa10"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}, {"label": "home", "start_step": 2091, "end_step": 2117, "id": "EPshbp8GMKaq8CaJRHTw0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}], "episode_index": 16}
+{"source_uid": "9d1abebea8aa7557", "num_frames": 2271, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "2f20d334-825d-4239-8a4e-fa10a0c06288"}, {"label": "valid", "start_step": 0, "end_step": 2242, "id": "iKwM6-u0KbYEDdVGMkAcE"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 196, "end_step": 510, "id": "e2bf4b47-42dd-4539-8b61-97fa0ec7d41d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 511, "end_step": 570, "id": "d22e6e9e-236d-4657-9ac7-a2c09e472600"}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 571, "end_step": 675, "id": "d8d6439b-6159-404b-a078-56c32c34f551"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "goal", "start_step": 676, "end_step": 745, "id": "426bf268-ba25-4c1c-8945-6c75ef2da9f7"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "goal", "start_step": 746, "end_step": 905, "id": "9b2619f0-cb50-4ffc-8d42-98bfc337ca1a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "goal", "start_step": 906, "end_step": 985, "id": "b170808e-143c-42ce-9df4-004b2b3f762a"}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 986, "end_step": 1095, "id": "1e8bc211-2f1d-4959-97bf-523b1008def9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1096, "end_step": 1165, "id": "9be2d4db-5472-4f3e-a65b-39c7caf07bd5"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "goal", "start_step": 1166, "end_step": 1315, "id": "7a02bbcd-47be-40af-a79f-b83c46af5a44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1390, "id": "70094114-3158-4e79-a59d-78dafe86c7e0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1525, "id": "39ab30c2-f001-403e-8e92-30b164e8805e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "goal", "start_step": 1526, "end_step": 1590, "id": "b1bd4d0b-b3c6-4c95-81ba-fbd3d8df8019"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "goal", "start_step": 1591, "end_step": 1770, "id": "15046fe0-9310-4f31-b064-5d5fd2b62a3c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "goal", "start_step": 1771, "end_step": 1855, "id": "78bf552c-d8f4-4524-8f8c-50520381d282"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 1856, "end_step": 2000, "id": "fd0ee29c-2a02-400e-a697-ae42b7462ec1"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "goal", "start_step": 2001, "end_step": 2070, "id": "1a022112-4215-4629-a005-786a2dfb3d70"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "goal", "start_step": 2071, "end_step": 2200, "id": "5e0f3585-7dd9-49d8-aaf4-2e97a59bf484"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}, {"label": "home", "start_step": 2243, "end_step": 2270, "id": "iXBozPSd4hO3fLich8YVW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}], "episode_index": 17}
+{"source_uid": "9d63e2fbbe0e058d", "num_frames": 2153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "ca78978d-1336-449f-bbe2-4051b43a59f5"}, {"label": "valid", "start_step": 0, "end_step": 2123, "id": "7eInSgVvwwU6DdecX_dgF"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "goal", "start_step": 141, "end_step": 350, "id": "85c1c072-07b9-4714-99c2-5ff162627011"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "4fe7619e-794c-4d25-b7bc-0f4a80fbca61"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "goal", "start_step": 421, "end_step": 610, "id": "95a047bb-2064-414c-ad90-01f38a1425c2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 611, "end_step": 710, "id": "d1bbb38f-ed03-4220-9b91-d01b64bc912c"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 711, "end_step": 830, "id": "01d957cf-a3c0-4042-86da-d1e040132678"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 831, "end_step": 905, "id": "9b043b86-57e3-4820-9bce-16e31a55a39a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "goal", "start_step": 906, "end_step": 1030, "id": "141f8c5c-8b14-4d0e-9d15-225a7937eb0f"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "goal", "start_step": 1031, "end_step": 1105, "id": "1dabefe1-0e42-432a-a557-e0e28723099c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1106, "end_step": 1210, "id": "56b5fe8b-a25c-4d65-b98c-3dc236cd90ff"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "goal", "start_step": 1211, "end_step": 1295, "id": "6bd86c74-77f9-4540-b3ef-52fcd666958a"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "goal", "start_step": 1296, "end_step": 1455, "id": "1d37d26d-cd24-4dbb-af07-2678fff30630"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "goal", "start_step": 1456, "end_step": 1530, "id": "4e315a0d-e19e-4e0c-a143-dc4fefaf4c3c"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1531, "end_step": 1640, "id": "ea3f6d0e-ea6a-4586-8f95-e8609a7a0622"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1641, "end_step": 1705, "id": "e3f48584-0f14-41d1-b268-48504a478dc3"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 1706, "end_step": 1850, "id": "93dc1b2d-b91c-4ca5-981c-a3716e440ca3"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "goal", "start_step": 1851, "end_step": 1920, "id": "7dcb4c9f-91ce-4ca1-b1f4-f7792c6a3a67"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "goal", "start_step": 1921, "end_step": 2080, "id": "a5e722fb-ed36-4427-925f-e98054311dcb"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}, {"label": "home", "start_step": 2124, "end_step": 2152, "id": "nBgFD1aGiCNDqLJf73umO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}], "episode_index": 18}
+{"source_uid": "b71664c48074e02a", "num_frames": 1977, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "159c5ff4-0330-4e41-8072-e0d0169efc1c"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QX5Y22cL1J6YVsyANbgzS"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 290, "id": "7cd92623-e3c6-4d77-8ee0-3bb1247fc6f2"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "goal", "start_step": 291, "end_step": 360, "id": "f9ff4781-c02b-4fa7-96f2-a0120b8ce2d2"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "goal", "start_step": 361, "end_step": 460, "id": "cf9d9f73-d23a-4901-a620-e4bc2db999e3"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 540, "id": "b04969eb-58a2-4f93-b361-291fada6a435"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "goal", "start_step": 541, "end_step": 650, "id": "c805d3a1-736f-4976-b587-d286d11d96be"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 651, "end_step": 785, "id": "582d8f28-5d01-44e5-ab83-0522f9163895"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 786, "end_step": 900, "id": "a80c6131-e97c-4ca7-bbe4-f2a555bcd719"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 980, "id": "6c3dfb92-b100-4cf4-a038-1fd8f9b5f9d5"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 981, "end_step": 1095, "id": "b6940ff2-4d7c-49f5-a0ea-8770e5d6c78c"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1096, "end_step": 1160, "id": "2ce917d0-1070-4115-a602-8c5d489ec6fe"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1161, "end_step": 1295, "id": "eafb8566-da26-4ea3-9d06-d9a293dddf1d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1296, "end_step": 1385, "id": "8e7cc425-47c0-4d58-bf28-16382bbc2483"}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "goal", "start_step": 1386, "end_step": 1515, "id": "1f99ff46-52a5-4967-801a-ddd8171e93af"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1516, "end_step": 1590, "id": "6154053e-1b0a-419d-8f88-6f8173ae1ed7"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1591, "end_step": 1705, "id": "b8d4348d-858f-454d-a081-838db25b27ed"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1706, "end_step": 1795, "id": "9cc3b490-7d89-4079-a49e-668ab303285d"}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1796, "end_step": 1920, "id": "04402a0c-62de-49da-abe4-46cc7bd1d74b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}, {"label": "home", "start_step": 1944, "end_step": 1976, "id": "537SMeLkJbn5Xb4w4wSSx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}], "episode_index": 19}
+{"source_uid": "21ab6eee1b7d9a2c", "num_frames": 1958, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "74ef4f1c-c97e-4770-a958-1b589a9f6f45"}, {"label": "valid", "start_step": 0, "end_step": 1925, "id": "0HMcxnDvAtRyDRQNuqs_v"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 111, "end_step": 235, "id": "66788235-663e-4c0b-a57f-343b8a49f24f"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "goal", "start_step": 236, "end_step": 280, "id": "bfa77149-6d97-4e2a-a437-7d5534895d60"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 281, "end_step": 490, "id": "22ea5f5c-0357-4794-a84d-69d555a08396"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "goal", "start_step": 491, "end_step": 550, "id": "8d078fe0-f631-4273-abe9-cd7b54ed797a"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 551, "end_step": 700, "id": "d58209c7-3625-449c-b98b-d1467a475797"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "70e7a26b-09c3-48f7-a9cf-45128db4e350"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "goal", "start_step": 766, "end_step": 875, "id": "4e118cd7-2dc7-41d0-b793-d9218fd78915"}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "goal", "start_step": 876, "end_step": 940, "id": "9156ffb9-ea99-4bb6-b69a-5d591378d160"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 941, "end_step": 1040, "id": "5250d874-3f88-4272-836e-1b9c2b950f96"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "goal", "start_step": 1041, "end_step": 1115, "id": "2c70cb4f-cb2e-46d4-ba69-8a85f36434a7"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "goal", "start_step": 1116, "end_step": 1280, "id": "895435b7-ffa5-4f8a-9285-b93d8177791f"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "goal", "start_step": 1281, "end_step": 1350, "id": "5428274e-6acc-4f39-b50c-3acd65c283ea"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1351, "end_step": 1500, "id": "08bb8cc1-28ab-44ba-a1ee-c52cf6efae86"}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1501, "end_step": 1560, "id": "c8263d6d-59cd-424f-a824-37a244c6aa18"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1720, "id": "9212ef52-5b1a-4f68-92fa-a8c3656d4d5f"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "goal", "start_step": 1721, "end_step": 1785, "id": "4ccfc880-d00a-45cd-b230-0676aa4f2343"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1786, "end_step": 1885, "id": "8e57f85c-b8be-48be-b7f4-f0265d0d3f86"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}, {"label": "home", "start_step": 1926, "end_step": 1957, "id": "zU0yAK6jhkrMPWWaYUc3A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}], "episode_index": 20}
+{"source_uid": "6e44ae99eadf8304", "num_frames": 1972, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "bc4c8998-8b9a-46a2-8206-eefaeb8ee8fd"}, {"label": "valid", "start_step": 0, "end_step": 1938, "id": "KoUKPqTDdhyMkL33Ub11l"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "1a91cca8-0301-4dcc-80ca-5a2452502a03"}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "goal", "start_step": 271, "end_step": 345, "id": "c93e49bb-9c88-4384-bad0-854bb4da5ab7"}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "goal", "start_step": 346, "end_step": 485, "id": "baa1537b-83ce-4349-9c52-b74d44d21a10"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "goal", "start_step": 486, "end_step": 560, "id": "75b1b0a2-5917-452e-9b8f-7b2ba38621d1"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "goal", "start_step": 561, "end_step": 805, "id": "c5c9f9d2-a15f-47ae-a7de-2b44b69d52a7"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 806, "end_step": 870, "id": "af57487d-e8e6-4b7a-bd82-417c86e9206a"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 871, "end_step": 1005, "id": "96e0325a-7b93-4abf-ade0-7dd1e1c96954"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "goal", "start_step": 1006, "end_step": 1075, "id": "9b3ac2e7-96a1-43b7-a772-1a5e2c120b1a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "goal", "start_step": 1076, "end_step": 1210, "id": "2860a3f5-fb0e-4959-b93c-67905770b2f4"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "goal", "start_step": 1211, "end_step": 1270, "id": "d8bbb7e6-eaf2-4f09-af8c-69d4b672b66e"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1410, "id": "39a23c86-cb29-4876-8905-3ffca57a46cd"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1411, "end_step": 1470, "id": "a1676222-7802-4c84-ba91-c13bf56a15e3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1471, "end_step": 1570, "id": "07cb9649-6d99-47f5-a865-c048d6278d5b"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "goal", "start_step": 1571, "end_step": 1625, "id": "bad3d5a2-30a8-4b2f-922a-e5030646e215"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1626, "end_step": 1755, "id": "e469c81d-f90b-40bc-96c7-0545f844811b"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1756, "end_step": 1800, "id": "c5a71f77-c469-43ad-9cf8-493953ff5373"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "goal", "start_step": 1801, "end_step": 1910, "id": "ed6bea63-8b73-4a3d-8bd5-b862233b14be"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 1939, "end_step": 1971, "id": "2kk1Om36grzlbSu7ZiycC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}], "episode_index": 21}
+{"source_uid": "db9819f51e76e3ee", "num_frames": 2021, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "12e33d7c-877a-4df0-8afe-3580df0111d7"}, {"label": "valid", "start_step": 0, "end_step": 1990, "id": "x4Ll6eSFFrWxiTQSXXSp_"}, {"label": "subtasks", "start_step": 45, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 275, "id": "26de76ad-6945-4e3a-b9dc-e5a640597725"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}, {"label": "goal", "start_step": 276, "end_step": 335, "id": "baefa307-7a07-412e-9d6f-77ed95bbdb4f"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 336, "end_step": 460, "id": "5fc5b6ba-3303-45d9-b5c3-299d51405dd0"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position above the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 545, "id": "1f607d74-eb1c-4091-b1ff-77fb5e03b58f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 546, "end_step": 650, "id": "c479d6ef-da9f-4697-a41e-68c86d867a18"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block 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idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}, {"label": "goal", "start_step": 841, "end_step": 920, "id": "8961b904-a64d-42cc-86ae-6089a3a955e7"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}, {"label": "goal", "start_step": 921, "end_step": 1040, "id": "9f40579a-cdbb-4ba6-94cd-831520f8f49d"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1041, "end_step": 1115, "id": "39426554-a359-48b3-9599-acb3205eb187"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1116, "end_step": 1230, "id": "900a948d-4cff-4d36-b0c5-717b86527745"}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "528c00a8-baf4-49a8-80da-55ef43fb77a2"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1301, "end_step": 1415, "id": "83fb8b70-a124-4821-a9a1-94dc2930d811"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "goal", "start_step": 1416, "end_step": 1540, "id": "ef61ed00-eeee-482d-bd67-0b31cfdbe3bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1541, "end_step": 1655, "id": "2d985b60-225a-4ec7-b51d-ec3b6906778b"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1656, "end_step": 1710, "id": "6634bd6d-1bfa-4141-8ab4-28bac99b2e77"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1711, "end_step": 1960, "id": "f09a1b3c-485d-4899-a9a8-d96e37366e08"}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}, {"label": "home", "start_step": 1991, "end_step": 2020, "id": "unaIlcAA7QCh58fLyIy3M"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position above the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}], "episode_index": 22}
+{"source_uid": "5de54cbf398ccbeb", "num_frames": 1983, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "fba73d9d-e5f1-48a1-a1d0-e9985c3679c4"}, {"label": "valid", "start_step": 0, "end_step": 1952, "id": "4FVffk8e5aYC9AvVWcuWA"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "goal", "start_step": 151, "end_step": 260, "id": "3b54155e-65ac-4719-941f-634b3d07c61c"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "goal", "start_step": 261, "end_step": 350, "id": "23ea4bc4-c7d4-46ed-80ed-03a9e58c28c0"}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 510, "id": "e7344aba-bc42-4289-b63d-a01b21b6a660"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "goal", "start_step": 511, "end_step": 580, "id": "11a6ee35-0b80-4b7a-8de6-caaa7e806355"}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "goal", "start_step": 581, "end_step": 720, "id": "43aa58ad-4d77-4d20-8112-52e2c6a56dea"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "goal", "start_step": 721, "end_step": 795, "id": "8ff66ec0-2d62-4962-ba63-4ff640bff852"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "goal", "start_step": 796, "end_step": 940, "id": "093b862c-0edc-4b1e-a6b3-8f6ded1b808a"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "goal", "start_step": 941, "end_step": 1005, "id": "feea5b1b-dc82-4509-b2e7-c40dd047c34e"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 1006, "end_step": 1100, "id": "e5310bb0-785f-4a18-af64-b42f85d638c7"}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1101, "end_step": 1175, "id": "e5016638-e48d-4d77-a0e8-d1a57c9048a3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1176, "end_step": 1320, "id": "ec3d90d2-d3da-482e-b8b1-cc4e42cb72db"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "goal", "start_step": 1321, "end_step": 1395, "id": "60e8aea3-16dd-4f92-a17d-5a7bc292d6c4"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "goal", "start_step": 1396, "end_step": 1505, "id": "a643560f-b49c-4196-a64e-b5c692700532"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 1506, "end_step": 1570, "id": "3829fcc8-518e-4465-93a2-e31e42914214"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "8def124e-5645-457d-b971-303058e520f4"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1805, "id": "70bfd90b-e6ee-452b-a94a-639cbadbaded"}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1920, "id": "fe24ae26-d71f-4928-8a10-f247e0797c61"}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}, {"label": "home", "start_step": 1953, "end_step": 1982, "id": "FBbwRxm9tS49ES-YpEmJh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}], "episode_index": 23}
+{"source_uid": "f309141933affada", "num_frames": 2613, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "4e1a827c-1f9f-4863-8834-1081cdb201eb"}, {"label": "valid", "start_step": 0, "end_step": 2579, "id": "wBVrgn1im-JPXcUZDgAlq"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 220, "id": "898d9e51-c8dc-4f22-9754-1eff3c6eeb52"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "e651d317-fb72-4058-8737-5c92a7cd40f4"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "6e4b08c6-7dc2-49e4-9db2-07605036639a"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 386, "end_step": 470, "id": "cbfa5e5a-4d15-42e7-a4ef-6fb6366c6ccf"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 471, "end_step": 575, "id": "ed9bbfba-68fe-4a6f-b815-27b989ad0816"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "goal", "start_step": 576, "end_step": 635, "id": "c6a3c8b2-0bed-4f8b-9faa-951c1d1c64b6"}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 636, "end_step": 820, "id": "6bf8c6a3-fd02-4078-b42b-f000f763c791"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 821, "end_step": 940, "id": "31037bd2-4875-466b-ba01-26984329da36"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 941, "end_step": 1035, "id": "c89839e9-74c1-4817-9697-a3d114d920ec"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "goal", "start_step": 1036, "end_step": 1180, "id": "1ddc96c9-15bd-4d0c-9694-985fd66522f3"}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "goal", "start_step": 1181, "end_step": 1425, "id": "bc539d48-31b8-4c67-a27c-2198ba3ab68b"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1470, "id": "a1d37dd5-008f-44b8-9481-52351cd2925a"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "goal", "start_step": 1471, "end_step": 1600, "id": "f2078fac-ec1c-4cc2-89bf-14ea67bf7a05"}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1601, "end_step": 1660, "id": "9010775c-9606-49a6-8f6f-2f2cb4157acf"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1661, "end_step": 1775, "id": "5edbfc7e-535d-4d97-ae7d-3abc23506bd8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1776, "end_step": 1845, "id": "24a5aeb0-ebbe-482d-b294-f67f0f748267"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "goal", "start_step": 1846, "end_step": 2545, "id": "2366c883-464c-4190-8d47-584cc2ec9e9c"}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}, {"label": "home", "start_step": 2580, "end_step": 2612, "id": "rGjyJNaZ2ah1-LK3IHp4I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}], "episode_index": 24}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65b6ded5f2d76f52a2a7afcf502d50ee919b9b3d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,25 @@
+{"source_uid": "0ba0cee3ca8f88d4", "num_frames": 2979, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward from the right side of the black table toward the central block rack, with fingers slightly open and wrist rotating slightly."}, {"label": "goal", "start_step": 0, "end_step": 237, "id": "ef7aa90e-3af7-45d9-8e64-5550662f6144"}, {"label": "valid", "start_step": 0, "end_step": 2950, "id": "3AI7jcuky2pIK3Z2JLZpF"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the central rack, with minor adjustments of fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green block upward to separate it from the support peg on the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the green block moving downward and leftward to the target position on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the green block downward onto the black table until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 238, "end_step": 437, "id": "8653d939-bb91-4c17-9954-640019d99d81"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to secure it in place, then releases the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white hexagonal block on the same peg and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward along the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring-shaped part onto the left purple post and releases the part."}, {"label": "goal", "start_step": 438, "end_step": 532, "id": "2954c6b0-a4c5-45a3-9f84-6462ac5a0f3c"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 533, "end_step": 717, "id": "6fe03252-f6a4-47d5-a665-b3d234b5c893"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to above a purple peg on the pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning it and lowering it down the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the left purple peg and releases the piece."}, {"label": "goal", "start_step": 718, "end_step": 782, "id": "60826bff-ad5c-4b1f-93ee-e1f3a3770db2"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table surface."}, {"label": "goal", "start_step": 783, "end_step": 962, "id": "4a07e28e-ccd2-431f-b315-64ed5492b008"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the front-left purple peg and lowers the piece down the peg to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 963, "end_step": 1042, "id": "5afaa51d-6cd6-46bb-bca3-5bf5d7f57b1c"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow cylindrical part onto the purple peg of the wooden pegboard and releases its grip on the part."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the table in front of the pegboard and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table in front of the wooden peg board, with fingers closing around the part."}, {"label": "goal", "start_step": 1043, "end_step": 1302, "id": "1c935d1a-c7e8-490e-96d1-1a11a2bd8d64"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and moves it upward and toward the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the middle purple peg, fits it onto the peg, and makes minor vertical adjustments to the part's position on the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the bottom of the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 1303, "end_step": 1377, "id": "81fe4a70-ef9b-4a99-979f-eb1939dbc9d2"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1378, "end_step": 1637, "id": "9ebf0385-7021-4e4e-b14d-fd63a270277e"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 1638, "end_step": 1737, "id": "e792f4db-8813-48ad-98fa-58a7ea3a0dbe"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1738, "end_step": 1892, "id": "33de253d-65e0-4cd4-a38f-7f30067ed34d"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1778, "end_step": 1881, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}, {"label": "goal", "start_step": 1893, "end_step": 2167, "id": "ffcdec9c-83b7-43d1-8ec7-0cbddc2b9402"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 2168, "end_step": 2387, "id": "d03147d4-e251-4158-a665-79cf18dc7de4"}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "goal", "start_step": 2388, "end_step": 2492, "id": "fcf690a2-4093-46a1-b8b7-33898a2ad3e4"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2493, "end_step": 2662, "id": "5b2493f5-6143-47a2-9743-0f829a107148"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "goal", "start_step": 2663, "end_step": 2737, "id": "e120a494-c491-4726-be6c-fbc7656c58a4"}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "goal", "start_step": 2738, "end_step": 2907, "id": "b919859c-1f6f-49d4-ad18-e08fa66c63e3"}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 2951, "end_step": 2978, "id": "imLQOLR2vKP7Z77KbjKX8"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward from the right side of the black table toward the central block rack, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the central rack, with minor adjustments of fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green block upward to separate it from the support peg on the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the green block moving downward and leftward to the target position on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the green block downward onto the black table until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to secure it in place, then releases the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white hexagonal block on the same peg and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward along the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring-shaped part onto the left purple post and releases the part."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to above a purple peg on the pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning it and lowering it down the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the left purple peg and releases the piece."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the front-left purple peg and lowers the piece down the peg to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow cylindrical part onto the purple peg of the wooden pegboard and releases its grip on the part."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the table in front of the pegboard and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table in front of the wooden peg board, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and moves it upward and toward the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the middle purple peg, fits it onto the peg, and makes minor vertical adjustments to the part's position on the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1778, "end_step": 1881, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}], "episode_index": 0}
+{"source_uid": "38aeb8f17df4b0d6", "num_frames": 3003, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "803f0c8c-3ca7-4044-859e-de94e1e86532"}, {"label": "valid", "start_step": 0, "end_step": 2975, "id": "li0fzGBvTOLB8XxxjwQod"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 315, "id": "7227ce29-66b0-4f13-9c7e-df4c606baf3e"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 316, "end_step": 380, "id": "6e5c7ffa-3478-4ce0-a073-eecbf35a2203"}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "goal", "start_step": 381, "end_step": 535, "id": "5d9d80a1-212a-455e-9d62-2e2c85aeed9d"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 536, "end_step": 610, "id": "f7d08fd6-a907-4d90-9dd3-9b3821102d5a"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 611, "end_step": 1010, "id": "be528fc3-b94e-4745-a7ac-5c07bfc58f4d"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "goal", "start_step": 1011, "end_step": 1055, "id": "73c4b812-75b6-45b2-9745-7df07237c662"}, {"label": "goal", "start_step": 1056, "end_step": 1200, "id": "566a9581-29e2-43dc-8342-55c9c5cc3920"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1201, "end_step": 1270, "id": "d53d81d1-a16e-43cc-b8df-af0c22d506ae"}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1400, "id": "8da1ada1-53bb-4c9e-b676-7d57e21b549f"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1401, "end_step": 1465, "id": "22eb341f-a76e-4e61-9dbb-e76cd01ae733"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1466, "end_step": 1825, "id": "b52c76be-85dd-4bfa-8eb0-6b3aaa8900b3"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "goal", "start_step": 1826, "end_step": 2365, "id": "478e5425-2676-4d03-87b4-41d910af4531"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "goal", "start_step": 2366, "end_step": 2495, "id": "5ec32319-c85e-42e6-9c35-9ff62c0912b2"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2496, "end_step": 2560, "id": "b58ebab4-86d2-43bc-92db-cd66fc77c9a9"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2561, "end_step": 2700, "id": "40af0d1b-da15-428a-a8f9-bf104afc381f"}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "goal", "start_step": 2701, "end_step": 2795, "id": "1cd8da7f-6b3b-4316-82fd-8e51f1267b94"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2796, "end_step": 2940, "id": "77b7105e-b967-4f84-a0f3-c52e42fec78a"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}, {"label": "home", "start_step": 2976, "end_step": 3002, "id": "5eNXO_h1ybynXsO4bbF37"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}], "episode_index": 1}
+{"source_uid": "1599f40e13fad3c3", "num_frames": 2168, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "c7d04a2b-60c0-4611-9f8a-77eaffe1042d"}, {"label": "valid", "start_step": 0, "end_step": 2140, "id": "6URSlmtc9OQ_2228aU4uA"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 221, "end_step": 365, "id": "4d934f5a-a977-4e43-8ead-59a39ae5e9c7"}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "goal", "start_step": 366, "end_step": 430, "id": "83848e12-68c4-471c-b513-19d33aae2b2a"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 431, "end_step": 585, "id": "b171322a-b104-4c9f-acd1-bf1c839ab648"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "goal", "start_step": 586, "end_step": 655, "id": "6373217d-594f-4935-9e21-c2eda2ce3a32"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "6300a3e2-0814-4cfe-a72e-79c49999391d"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 895, "id": "7f2583b1-74c6-4b20-8292-b026a389e636"}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "goal", "start_step": 896, "end_step": 1050, "id": "78425eae-b303-4f3f-bef9-09d3ca907a3b"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1051, "end_step": 1100, "id": "244e7277-6aea-435b-a013-59ee04281014"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1101, "end_step": 1230, "id": "fd41635b-c79f-465c-8b8a-29eee41b5a42"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "050d1b8d-251e-4a37-bbe0-6268bbd05e31"}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "goal", "start_step": 1301, "end_step": 1470, "id": "fee9d0c3-fd1b-44bf-bae5-fd688244c7fe"}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 1471, "end_step": 1530, "id": "3ee7aa47-7161-47d3-b907-fced444bc6df"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 1531, "end_step": 1655, "id": "96be7785-7a8b-47f8-b4df-9246bb161a22"}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1656, "end_step": 1725, "id": "638d3a50-36df-4e23-ad7b-c4274b3d2c69"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "goal", "start_step": 1726, "end_step": 1920, "id": "37c21f73-5ec9-4dca-8cc8-94244b10b820"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "goal", "start_step": 1921, "end_step": 1975, "id": "1a10ebec-030c-46a8-8d17-33477cfd1a58"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "goal", "start_step": 1976, "end_step": 2095, "id": "61b5e192-4097-4cc8-bd83-453f2039a55c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}, {"label": "home", "start_step": 2141, "end_step": 2167, "id": "qoOZFNDQxxjYyh5NdbHKa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}], "episode_index": 2}
+{"source_uid": "2aeb3d8a77a44dd0", "num_frames": 2025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6b6e85d9-2970-4e46-b4d2-a11c8dfa0a6b"}, {"label": "valid", "start_step": 0, "end_step": 1992, "id": "Mvd2p787BZi_fR5Jge8G1"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 280, "id": "b7d5e327-5e9f-4c6f-8b1b-8ef62fa80305"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 281, "end_step": 340, "id": "5e7e8c2a-7573-4f36-bb2f-91c691424818"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "goal", "start_step": 341, "end_step": 475, "id": "c67aa3f9-e67f-4747-a1fc-163e8732fe99"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 476, "end_step": 535, "id": "85a86158-eee0-47e2-8186-2071e9402fa7"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 536, "end_step": 770, "id": "4be62c98-ae44-4de8-ba0f-a846b8c1a5f0"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "goal", "start_step": 771, "end_step": 825, "id": "2b473f95-73c0-41f1-9ae0-e16b7239c075"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 960, "id": "15bc99c9-9263-4403-8424-66ef18915047"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "goal", "start_step": 961, "end_step": 1025, "id": "031cbf8e-cc6d-4d4d-9c27-ff1a0f37b1c4"}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1026, "end_step": 1145, "id": "65b4acf3-e0ac-4b80-877f-1a090d955268"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1146, "end_step": 1205, "id": "b90c5765-f1be-4692-936f-abac4fcc4e38"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "2744936f-d2bb-45de-b8f2-7c5fe1fdeaba"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1380, "id": "b74b4e3c-a60f-4e30-8b74-eadbd517269d"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1381, "end_step": 1550, "id": "c7caf495-7a7e-4a36-a358-4eb2cc5056e9"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "goal", "start_step": 1551, "end_step": 1615, "id": "beafef45-bbed-49d2-bd5f-83a973e0208a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1745, "id": "f7aacb9f-9071-4154-b4e2-0e63b3072648"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "goal", "start_step": 1746, "end_step": 1815, "id": "9814f903-988d-4b19-ac50-f323dea94d98"}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "goal", "start_step": 1816, "end_step": 1950, "id": "00866fef-3840-495b-a4ce-a25697423c7c"}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}, {"label": "home", "start_step": 1993, "end_step": 2024, "id": "mfdF9UAGZ2sCs54Nxr8Ei"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}], "episode_index": 3}
+{"source_uid": "c42ddb79197afbe6", "num_frames": 2030, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "45b83f39-3b70-4d1d-b8dc-8c4c819c00c6"}, {"label": "valid", "start_step": 0, "end_step": 2001, "id": "Kv3yvgtom3ConWEskPFIm"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 116, "end_step": 250, "id": "2c06ade9-a656-48c9-9cc1-260218b13152"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 320, "id": "4374f89c-7c13-475d-b5ca-b93f83ccecee"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 321, "end_step": 455, "id": "c7a176b7-94b2-4910-b1a3-324ab6ec5b26"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 456, "end_step": 530, "id": "9fa98738-6701-4e8d-9879-df96b1766d9a"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 531, "end_step": 660, "id": "6d62d200-1643-4647-9222-e6618a6b2ecc"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 661, "end_step": 725, "id": "d29c542d-c3fe-4d16-b592-4117a21052fa"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 726, "end_step": 855, "id": "b06eda1b-449f-4667-863d-1b19ad515bb0"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "9379f2ab-d69b-4e89-83ef-2cf53a008145"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "eb6e7f7e-8418-4e8b-a290-727f51b1b317"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1270, "id": "c5717cd8-c8a3-46f2-9bc3-94400f03770f"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1271, "end_step": 1415, "id": "b85444ee-c022-4d4a-a6b3-46cd874d54a3"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1500, "id": "687ee248-d98f-4bc7-8f19-6a327512e1a4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1615, "id": "6278c80a-4190-43da-95a0-6fd6c458771c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "goal", "start_step": 1616, "end_step": 1675, "id": "b16a7cc9-f8ae-420d-81fb-9ae4ba99c315"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1676, "end_step": 1782, "id": "41915b1c-321d-4d45-8292-24c31b953a75"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "goal", "start_step": 1783, "end_step": 1842, "id": "f43ac6ec-1e9c-4b8e-a89d-758a8a22bb25"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1843, "end_step": 1967, "id": "87866c8f-87fa-4957-be4a-18f7b6005825"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}, {"label": "home", "start_step": 2002, "end_step": 2029, "id": "0mo1Dde824HQsYbY8F7lg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}], "episode_index": 4}
+{"source_uid": "007b76ed2478ccdd", "num_frames": 2139, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "895ca5e2-0e83-4a00-b32a-412f086d684b"}, {"label": "valid", "start_step": 0, "end_step": 2106, "id": "DHFiLctO_qrmACIDAsMMa"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "goal", "start_step": 141, "end_step": 265, "id": "4bb09a1c-0a3a-4149-a9df-e45f5460f16f"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "goal", "start_step": 266, "end_step": 475, "id": "f46b1362-7b6c-47b3-9e3f-bf4627b654ea"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "goal", "start_step": 476, "end_step": 610, "id": "d0bc2172-4f14-4ba0-9692-1588027124bc"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 611, "end_step": 685, "id": "7f1a21f8-fb2d-4032-874b-1499dd413caf"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 686, "end_step": 810, "id": "7bbff2f2-e8b8-47d5-8a05-a3419ffc2ad3"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "goal", "start_step": 811, "end_step": 880, "id": "72bec814-bcec-4482-a345-1174a8fdb7ca"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "goal", "start_step": 881, "end_step": 1000, "id": "15b16b6d-f1e3-4186-a15d-201a2dd99784"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1001, "end_step": 1080, "id": "53799dbd-9e11-45a4-aee8-ebc657dc260f"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1081, "end_step": 1225, "id": "f8a32900-6334-4c84-9fdb-b103590c55cc"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "goal", "start_step": 1226, "end_step": 1310, "id": "5c987805-361d-4756-bb45-62f9a36c1243"}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1311, "end_step": 1435, "id": "a9c0db38-b1bf-41c1-8da9-07df99a7abdf"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "goal", "start_step": 1436, "end_step": 1510, "id": "b84a4375-0f42-4b9f-a8fc-83df48f08dee"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "goal", "start_step": 1511, "end_step": 1670, "id": "8b01b7db-0d23-4e8b-879b-26cf5f93484a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "05cc0eec-9080-4e96-baf2-35e37414cb50"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1875, "id": "4a5113a7-63ab-4701-a80b-2480a3a8f822"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1876, "end_step": 1945, "id": "75914211-9598-4776-81c0-ac0d9d6bfd42"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "goal", "start_step": 1946, "end_step": 2065, "id": "253aa68f-a588-41d3-8968-70b7fceb6403"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}, {"label": "home", "start_step": 2107, "end_step": 2138, "id": "l4ZBNyPiqgxLoSuwcOw36"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}], "episode_index": 5}
+{"source_uid": "f26b99acecef5f87", "num_frames": 2136, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "88b8c4a0-ac56-4d33-8f4b-cd59afd2ea3d"}, {"label": "valid", "start_step": 0, "end_step": 2104, "id": "rnl4QRNDAPBMbbfAoN0JQ"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "goal", "start_step": 156, "end_step": 330, "id": "6db0e960-a523-4d36-9985-c985c9566870"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "goal", "start_step": 331, "end_step": 380, "id": "ce7d43b6-27d0-4b1a-83fd-e8ee04d62b2a"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "goal", "start_step": 381, "end_step": 545, "id": "dab56fcc-5115-406c-a618-7ce16257eca7"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "goal", "start_step": 546, "end_step": 615, "id": "0495e783-f01a-4907-ab0a-ea1829c52562"}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 616, "end_step": 775, "id": "7b422736-6b73-4c92-9229-206c756cf37f"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "goal", "start_step": 776, "end_step": 850, "id": "f451f33d-69de-4fe6-9b69-18432199ed0f"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "cd6bd78a-51d5-4600-8f8b-fb5535a62038"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "goal", "start_step": 971, "end_step": 1030, "id": "1e28f5f0-ca3b-4a29-a17b-521ce477f328"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1031, "end_step": 1140, "id": "5775e0a3-124a-4863-a09a-f4a0c898928a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1200, "id": "bfe52bab-5ec1-4bb3-bff2-8009365ae9a7"}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "goal", "start_step": 1201, "end_step": 1315, "id": "46d3e7c7-aa3f-4e34-ac80-079cfa65866d"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "goal", "start_step": 1316, "end_step": 1395, "id": "4f4e7f80-0345-432f-ae49-dbc0b048af56"}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1500, "id": "91080bd7-cea0-4073-ab36-5c337a9bc1c7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "goal", "start_step": 1501, "end_step": 1735, "id": "02af6453-0d1a-4c3c-8f58-a9ba0049996d"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1870, "id": "61872641-bef0-469e-a065-a93fff2cef2c"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1871, "end_step": 1940, "id": "ee463186-eb41-450e-8d2e-a829509207a3"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2065, "id": "68205b5c-edc1-4cbe-836d-9b8c98acb49a"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}, {"label": "home", "start_step": 2105, "end_step": 2135, "id": "i66yhKOOl7sdVC7_7JRsa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}], "episode_index": 6}
+{"source_uid": "3775dfbad9b73d3f", "num_frames": 2180, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "846e1a45-8a09-4f94-8258-88bcf9dd4554"}, {"label": "valid", "start_step": 0, "end_step": 2149, "id": "7vZ_KcgPHqufCvhYEubLv"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 171, "end_step": 350, "id": "60347878-fc0b-44fd-bab3-1ebd11f23238"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "40d6b73a-37a4-4080-8812-40d684243db7"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 560, "id": "3b56bb0d-cf8d-4222-87fe-05533ae95a99"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 561, "end_step": 635, "id": "8ef2ff99-9a74-4639-8db2-b0cf634798a4"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 636, "end_step": 810, "id": "84f98c51-f881-4865-935a-5f5beb0f7fff"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 811, "end_step": 895, "id": "013c2290-006a-4a95-9e48-f22d9da4c5b1"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 896, "end_step": 1025, "id": "99df17ad-a703-45ad-acf9-94ce799c6c14"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "goal", "start_step": 1026, "end_step": 1110, "id": "ff8594dd-645b-4bc8-b259-eb36cd65fd3c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "goal", "start_step": 1111, "end_step": 1215, "id": "82e284f4-a043-45d8-a35e-810d2679d4fd"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1216, "end_step": 1285, "id": "9261b847-d12d-4d08-af59-6ef2d93a1391"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 1286, "end_step": 1415, "id": "0ad9f1fa-5970-4ded-bc24-bde88b4aa9f5"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1460, "id": "07717c65-a669-49f8-92e6-28840da6d3e1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1461, "end_step": 1620, "id": "82d0f595-f85c-4898-afa3-48fa72219ecf"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1621, "end_step": 1690, "id": "b4a89c98-0ede-4af8-9aec-69bf1b7a1e6e"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1691, "end_step": 1925, "id": "007aef89-b943-4105-95a1-f67143f71367"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "1fcee488-3c85-4501-9f25-74882a64edcf"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1986, "end_step": 2110, "id": "5fd29bb2-cebd-4ea5-9a7d-7ba95e3b36d0"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}, {"label": "home", "start_step": 2150, "end_step": 2179, "id": "ydCBdCPmRBG6Pep-sQOTq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}], "episode_index": 7}
+{"source_uid": "71ee42684fa22726", "num_frames": 2119, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 227, "id": "7b23a8b4-8770-4af9-a3d3-35d58e6e1ed8"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "uNS2gzp2eRMb5DxMo80Z6"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 228, "end_step": 512, "id": "c1966246-afc5-42b3-b2cb-9eecf71cee97"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "goal", "start_step": 513, "end_step": 592, "id": "d4a2897c-a2ba-4f60-91ac-9d19f949ba0b"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "goal", "start_step": 593, "end_step": 712, "id": "8dbae334-49eb-47c6-b2aa-9c0666077b15"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "goal", "start_step": 713, "end_step": 792, "id": "16701e46-2918-417f-8814-86ed30240881"}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "goal", "start_step": 793, "end_step": 917, "id": "4ce7278a-3c6c-4497-bfdb-1eda3de72d9c"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "goal", "start_step": 918, "end_step": 987, "id": "7dfe047b-a712-408d-a249-1ba0f02731fb"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "goal", "start_step": 988, "end_step": 1102, "id": "113848ee-4374-4473-b998-8c5b581f6844"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "goal", "start_step": 1103, "end_step": 1167, "id": "a3d2f33e-75a9-4d9b-a405-7165974573ac"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1168, "end_step": 1272, "id": "a487bde6-6581-404c-8607-472d31d5bf32"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1273, "end_step": 1357, "id": "65d0f5e2-3260-4bf5-bfc7-e81142fca3e2"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1358, "end_step": 1472, "id": "0b928197-3104-4df3-b877-697a380bc2b5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "goal", "start_step": 1473, "end_step": 1532, "id": "df21d5c7-47c1-43a8-ab78-1f905ac368ac"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 1533, "end_step": 1637, "id": "efeab232-4b32-4ccd-97d5-989c20d316b5"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "goal", "start_step": 1638, "end_step": 1707, "id": "ce58db7d-593d-4045-8c54-503e3bf5120a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "goal", "start_step": 1708, "end_step": 1812, "id": "1621befa-b7a0-4de8-9c17-dfe728ce937c"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "goal", "start_step": 1813, "end_step": 1897, "id": "31a0648d-7655-4103-a28a-88ab5a495c94"}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "goal", "start_step": 1898, "end_step": 2052, "id": "bfa3dd24-5379-4102-b62a-f16e453067bc"}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}, {"label": "home", "start_step": 2085, "end_step": 2118, "id": "qkSspcvvMnVv4N5jydODc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}], "episode_index": 8}
+{"source_uid": "513864a75e22744d", "num_frames": 2713, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "b4215081-61a5-4ed8-8260-6798d9011e55"}, {"label": "valid", "start_step": 0, "end_step": 2679, "id": "-izBcOl6OyBW1V23CTk4q"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 360, "id": "d7022695-2b7e-40bc-965f-67aad6aebc1e"}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 361, "end_step": 435, "id": "62c1b1d0-072f-48eb-be0d-bad908f51901"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "goal", "start_step": 436, "end_step": 570, "id": "999cbd52-b4f0-40e3-bfa0-24e29b9cb56b"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 571, "end_step": 640, "id": "1f889287-68a1-43e7-b972-0f608446ea07"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "goal", "start_step": 641, "end_step": 795, "id": "d51aa309-9e48-42da-9dc9-0ec9e44c48fa"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 796, "end_step": 870, "id": "e0873649-c10b-49c3-a84e-d6518627222c"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 871, "end_step": 995, "id": "bb10d017-5a14-431f-9db0-97e13e6e6a87"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "goal", "start_step": 996, "end_step": 1060, "id": "ac5db43e-56b3-49e1-aded-25bb07a01ad9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1155, "id": "87bc00ad-b63a-45fa-a630-ca89ff4195be"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1240, "id": "ef03fd54-e6cd-4bd6-9121-ade3eff21a79"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "goal", "start_step": 1241, "end_step": 1345, "id": "e22a70ac-9071-433d-a549-f3d4f4d603a3"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1346, "end_step": 1410, "id": "ea16ff3f-9e26-4219-93dc-721a60cc166f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1411, "end_step": 2110, "id": "02f88ee5-0544-4a15-8719-042f73f6f913"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2111, "end_step": 2180, "id": "902ae01a-ed8f-4d65-b1c4-ab76548b2a4b"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2181, "end_step": 2315, "id": "89003fc1-b110-4259-934f-b9f5b3465f54"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 2316, "end_step": 2390, "id": "b338fbf1-b127-4d89-b5cd-f6392274e143"}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2391, "end_step": 2637, "id": "6f790415-afd2-44a9-8c9a-d66c98e3a09a"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}, {"label": "home", "start_step": 2680, "end_step": 2712, "id": "XFzqlucLlT5VdnsBR7FXK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}], "episode_index": 9}
+{"source_uid": "73bd649b6540e5d6", "num_frames": 2361, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "ae3a0d33-2b75-4796-b860-5b8dd19d269b"}, {"label": "valid", "start_step": 0, "end_step": 2329, "id": "MvIgK8wXQ035GTXtdg1af"}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "goal", "start_step": 146, "end_step": 285, "id": "81ad4dc9-2803-4ad9-bfd7-aaf901aaf027"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "goal", "start_step": 286, "end_step": 370, "id": "61cf4ea8-0cde-4c2b-84f8-cf00d6336715"}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 371, "end_step": 515, "id": "59f84b89-3988-488f-9c07-c3cec5fc3b8f"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 516, "end_step": 595, "id": "75224172-73c2-4cfd-852f-7d334ededa3a"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 596, "end_step": 845, "id": "f1607859-1cec-4e55-8e59-e6b6a2e4ca06"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 846, "end_step": 950, "id": "578ed4be-49ff-440a-a256-334acf28b751"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 951, "end_step": 1105, "id": "7e6d7210-e4ad-4981-9d41-a3d3909362b0"}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1106, "end_step": 1160, "id": "75dc598c-6313-4c3c-ae0b-9b8147f05010"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 1161, "end_step": 1285, "id": "1eab20ca-13e2-403b-9248-019699d08729"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "goal", "start_step": 1286, "end_step": 1355, "id": "c24a2e94-a38c-4c08-9254-3da8fc28f513"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1356, "end_step": 1490, "id": "bf7ed551-c18e-4df3-9eea-12200065257f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1575, "id": "32cbb961-07a7-479c-a863-4631ec83602a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "goal", "start_step": 1576, "end_step": 1680, "id": "67734bf0-efbe-4646-92a6-a837e656bcec"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 1681, "end_step": 1735, "id": "db9058ad-f9a7-428b-bc94-e3b0c5f014e6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1865, "id": "2b924305-5d8a-4f01-b1d8-d2e84e0be9be"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 1866, "end_step": 1920, "id": "c3acd839-6a1d-4903-98c8-18c96a942cdf"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2290, "id": "80569fb5-e002-4ed1-ba68-7a01c2cc3ed5"}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}, {"label": "home", "start_step": 2330, "end_step": 2360, "id": "XM3kHk60K8e2xP04PJOQ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}], "episode_index": 10}
+{"source_uid": "6e79b6e46fa22544", "num_frames": 2160, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "1505641c-39da-4db3-9b6e-50d68070a4e8"}, {"label": "valid", "start_step": 0, "end_step": 2131, "id": "ctjQhpHI1ex6qPIvJXU7M"}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "ad5c976a-b205-4175-8a5b-58c99b754fb6"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 410, "id": "f0ade8a3-954d-4abd-8fc5-da3cae36cef1"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "goal", "start_step": 411, "end_step": 575, "id": "3df57f8b-1e80-4375-bb3d-2b69cac3c200"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "goal", "start_step": 576, "end_step": 650, "id": "67908d50-0f5e-48bb-8b75-12bc8a527efd"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "goal", "start_step": 651, "end_step": 775, "id": "97a16225-8daa-4e5c-bf90-7d351368f88c"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "goal", "start_step": 776, "end_step": 840, "id": "ee38a8d2-ec2c-4028-a8cb-220681020707"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 841, "end_step": 1005, "id": "55936fdf-f789-4f71-9699-42f526b1db22"}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1070, "id": "4cf4139d-f04d-4b41-ad7c-a740df2007ee"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1195, "id": "700e4683-213f-41eb-9ea6-dc17e0945faa"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1196, "end_step": 1280, "id": "7f33cf3d-c762-4c8b-9338-05e093cf89a4"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "goal", "start_step": 1281, "end_step": 1410, "id": "1b7fb995-8a99-4f0f-bb0e-63cab472a142"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "goal", "start_step": 1411, "end_step": 1495, "id": "93685480-cf1e-4ceb-9ee2-a96506490921"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1730, "id": "beaceed0-cba2-4734-a09d-af8b04802735"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "goal", "start_step": 1731, "end_step": 1815, "id": "a8bc398e-acfa-4782-b058-5b3aa2620a9b"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "goal", "start_step": 1816, "end_step": 1920, "id": "a974854e-6f27-482d-802e-703fa7d577a1"}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "goal", "start_step": 1921, "end_step": 1980, "id": "0ecc264e-0d0f-4834-a765-cc841707eaf2"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1981, "end_step": 2090, "id": "a77f5110-a61d-4d9d-b376-bf525f0d88e2"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}, {"label": "home", "start_step": 2132, "end_step": 2159, "id": "SnByDeBF_npKvgXWIw1oL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}], "episode_index": 11}
+{"source_uid": "701e91aedf2427d0", "num_frames": 2774, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "674eda58-bcb0-4fa8-9713-46391e8c929c"}, {"label": "valid", "start_step": 0, "end_step": 2743, "id": "PqrQ_9HrAHqKAgdwh-SIr"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 111, "end_step": 240, "id": "81928e97-1a64-40d2-b0eb-278ba6333f42"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "goal", "start_step": 241, "end_step": 305, "id": "e7556ab1-17bd-497d-8da6-7c6f378a53a3"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "goal", "start_step": 306, "end_step": 445, "id": "58e14c22-f948-452e-9814-238a7e3fa84e"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 945, "id": "8114bae9-bae6-4d89-9ac1-871b6e5acee0"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "goal", "start_step": 946, "end_step": 1170, "id": "ac9f113c-421f-4577-8bcc-3c9ff44517f5"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 1171, "end_step": 1265, "id": "941140af-4ebf-46a6-94b1-295110aeb250"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "goal", "start_step": 1266, "end_step": 1380, "id": "61efaf2e-c933-4f91-a1be-8ca5a9527593"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 1381, "end_step": 1440, "id": "c6166581-0278-48a3-8d47-1afefedc373d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "goal", "start_step": 1441, "end_step": 1555, "id": "84dd711a-dccb-4c26-9735-18c7fac3e858"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1556, "end_step": 1625, "id": "f0e3a35a-de8d-4695-9b7f-1eb22ab3f994"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1626, "end_step": 1735, "id": "9251c709-4cbc-4c7b-8683-0fc17a687104"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1736, "end_step": 1810, "id": "30f59c8b-92a5-416c-8ae7-015391a5d432"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 1811, "end_step": 1920, "id": "f10cfb62-5035-48a8-99af-4aaf2f8f140d"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "goal", "start_step": 1921, "end_step": 2310, "id": "da9d1c23-d50e-4a49-af97-cdf10dee6911"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "goal", "start_step": 2311, "end_step": 2435, "id": "f417372f-3199-45ce-97bb-4b46537a2177"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "goal", "start_step": 2436, "end_step": 2600, "id": "f28beb22-5c9d-4868-ac51-c6a81d75955d"}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "goal", "start_step": 2601, "end_step": 2700, "id": "a84767cf-95e7-4fcc-a3ed-4f78635f569b"}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}, {"label": "home", "start_step": 2744, "end_step": 2773, "id": "6d-8zDj-dcZIS1BdrSRx0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}], "episode_index": 12}
+{"source_uid": "5d8411ae17da0a34", "num_frames": 2130, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "8dff8850-4897-4496-ac03-30ab00ad04a9"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "_VrCGpU0ioZKjusFKl5gk"}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "goal", "start_step": 161, "end_step": 295, "id": "a43f2388-a02b-4610-9da0-1d628e41d68c"}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 296, "end_step": 355, "id": "340a962e-668f-41c6-8539-f8fb19775bcb"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 356, "end_step": 450, "id": "411a18f3-fa44-44cb-a0a5-1c8fff62b8ee"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 451, "end_step": 510, "id": "ffd2772e-88a2-4970-aa77-e3fa92055593"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 511, "end_step": 675, "id": "97a8a214-f2d6-48ac-a433-ff138b556f89"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 676, "end_step": 735, "id": "886ed51b-46c9-44d4-af4a-7bdc3ee67dcd"}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 736, "end_step": 1020, "id": "44c86290-dfe3-4d80-8f03-21fc1554d161"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1120, "id": "ce34ac8c-2db8-45e3-80fe-9a638d12fba4"}, {"label": "goal", "start_step": 1121, "end_step": 1260, "id": "d73a2821-8111-474e-b989-9935b01400f9"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "goal", "start_step": 1261, "end_step": 1320, "id": "d3f10b0a-b41c-4ad5-be53-003ddadb25b6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1430, "id": "1d03f486-3974-4557-b291-914f1b209fe0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1431, "end_step": 1495, "id": "1864a0b1-e85b-4ed1-99d2-6e7c5505fbe4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 1496, "end_step": 1605, "id": "309ca8ce-eef2-4bef-8b60-72a48cff93d4"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1675, "id": "ff24669c-1090-41d1-8819-467fb7986d35"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1676, "end_step": 1860, "id": "a6ed0475-3061-4797-ae7e-f673f9d3468d"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1861, "end_step": 1925, "id": "3da0d9bd-1db3-4f2d-af13-cbcf8d956403"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "goal", "start_step": 1926, "end_step": 2070, "id": "d3588494-531c-4e52-a5c9-c706c79577fc"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}, {"label": "home", "start_step": 2099, "end_step": 2129, "id": "XKQvJDWBCNE91sZngwubg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}], "episode_index": 13}
+{"source_uid": "a2c86d6e0f19ecc2", "num_frames": 2194, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "53f8faf5-f4aa-4d32-a600-3b30a81dfa4f"}, {"label": "valid", "start_step": 0, "end_step": 2164, "id": "mgeEeccOHJSvIknus2b-8"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "goal", "start_step": 146, "end_step": 270, "id": "2062f824-0a56-4c06-9b6d-47dbf0eebba8"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 271, "end_step": 355, "id": "03679350-74e7-4c46-a961-d3bd55d76ca9"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "goal", "start_step": 356, "end_step": 520, "id": "d15f606a-bfbf-4672-850a-4bf8a7583975"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 521, "end_step": 605, "id": "8f7049d1-2772-4d2e-84b6-23ebd47db2e0"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 606, "end_step": 725, "id": "6c901ec6-41f9-4691-937f-57cf397856ce"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "goal", "start_step": 726, "end_step": 790, "id": "7f70b106-bd0e-4b20-ab2e-bc56f99fc930"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 791, "end_step": 900, "id": "64dca41a-ef7b-4879-8ea3-7499ad158df8"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "70cbf4bc-8b49-4200-b32f-297751fd9ce7"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 971, "end_step": 1170, "id": "7dabe4ad-8e6f-44eb-9ac7-71934303c371"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1171, "end_step": 1180, "id": "fef955bc-012c-4775-ac10-4b049f5115e6"}, {"label": "goal", "start_step": 1181, "end_step": 1330, "id": "fa5f2184-1578-46b0-b70e-e8316592c2ae"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "goal", "start_step": 1331, "end_step": 1390, "id": "2e96e381-9f20-4967-a574-d80ea68c0a68"}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1615, "id": "9424cc03-ec50-484c-922a-34f15a9d6bac"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "goal", "start_step": 1616, "end_step": 1780, "id": "f1582df7-8f99-4839-8b9c-48c7e599caf1"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "goal", "start_step": 1781, "end_step": 1925, "id": "cd8ff266-495e-486e-b816-e7a15ac74132"}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "6e54c5d6-01b9-450c-88fa-93e2112f7097"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2135, "id": "bd68068e-8e24-49e5-b5fc-beb2ad8ac4ea"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}, {"label": "home", "start_step": 2165, "end_step": 2193, "id": "44kZujFMY-kPrE1yiOO9w"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}], "episode_index": 14}
+{"source_uid": "472e2ea0f4ee4d23", "num_frames": 3038, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "9846c0d6-6379-4a5f-8000-8a303f6af7ae"}, {"label": "valid", "start_step": 0, "end_step": 3009, "id": "G21jYmAxIjZIZu9RpFYy4"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 146, "end_step": 250, "id": "288826c7-c1b7-4f91-a9f4-6d028558903d"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 251, "end_step": 310, "id": "638b61ec-0054-4635-97a8-dbd4f9c84f78"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 311, "end_step": 435, "id": "3699e181-f085-4d91-b012-c04d2371f15a"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 500, "id": "fdae4e60-1103-4df7-a01f-8bef8d99974f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "goal", "start_step": 501, "end_step": 700, "id": "8bd4244b-b22e-42e2-8df3-c0fa4545d57e"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "72e87c45-70bd-4fb1-9781-684ac3cab81a"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 766, "end_step": 945, "id": "7b7d6ef5-6627-42e1-b006-b21dbecf7b90"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "goal", "start_step": 946, "end_step": 1025, "id": "08791dcf-a726-4bd7-9615-a243094cc2e5"}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1026, "end_step": 1135, "id": "ad227624-81f7-48f0-99b4-d9e984b6c7fb"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1136, "end_step": 1770, "id": "2f3359d9-1afa-463c-95ed-89ba2a15f0b4"}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1771, "end_step": 1915, "id": "816997b7-7e37-437e-8416-5fa0939660d5"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 1916, "end_step": 2125, "id": "864c6c03-b0cb-4105-a6e6-32c1ac2eb9df"}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "goal", "start_step": 2126, "end_step": 2270, "id": "dde1ca12-9ca8-4158-9f17-91263e51956c"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "goal", "start_step": 2271, "end_step": 2615, "id": "8c531ffb-4681-49f8-89ba-34e4faa6ebc3"}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2616, "end_step": 2750, "id": "a9016045-c186-47d4-a9f7-55c94673b739"}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "goal", "start_step": 2751, "end_step": 2830, "id": "d115458a-3d2d-4322-b715-b6fae8931534"}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2831, "end_step": 2980, "id": "e45043a7-4d4d-48c7-bdda-1e936e3549e1"}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}, {"label": "home", "start_step": 3010, "end_step": 3037, "id": "BSqjpFDFzASebG7XqkVGU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}], "episode_index": 15}
+{"source_uid": "dda6f7dc02412b2c", "num_frames": 2118, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "226a95b0-96cf-4d9e-925a-1b992c840d67"}, {"label": "valid", "start_step": 0, "end_step": 2090, "id": "FD-NnB_4IMt90yFpkXPNJ"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 116, "end_step": 240, "id": "ee38ebcd-3e07-48e2-b26a-f54e222ca256"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 241, "end_step": 300, "id": "b8c08569-532c-4870-850c-4c0bd422d0b3"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 475, "id": "2af051a3-861b-47b4-8b10-97c5e948f8ea"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 476, "end_step": 530, "id": "9a841d99-e000-4ea7-8a1c-b656c7405300"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "goal", "start_step": 531, "end_step": 645, "id": "9587f183-ac13-4254-96de-72e28bcdb6e3"}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "goal", "start_step": 646, "end_step": 725, "id": "40b7e4d9-06c6-444c-9972-ab7a7fa5f9bc"}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 726, "end_step": 960, "id": "88f500e5-b9e5-42ff-8f6e-ca7e9f53a94a"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "goal", "start_step": 961, "end_step": 1040, "id": "346c0982-5fa4-4757-b54f-aef9bd27e262"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "goal", "start_step": 1041, "end_step": 1175, "id": "f5ac83e7-8fa0-404c-ac9d-1414873dd672"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "goal", "start_step": 1176, "end_step": 1240, "id": "e1681dae-e811-4d97-9477-104414e12fc6"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1241, "end_step": 1365, "id": "c73d30d6-d07d-45fa-a5e6-0319f630b2ba"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1366, "end_step": 1430, "id": "a6017312-b121-43d0-813b-075dc25c349b"}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1431, "end_step": 1535, "id": "cada37d4-ceb9-4abc-922a-2ab5c5c88fe5"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "goal", "start_step": 1536, "end_step": 1605, "id": "59d85d97-8909-4b21-bc6b-e475a781207d"}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1705, "id": "a3098263-03e6-4e90-aa02-4ac25532728d"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "goal", "start_step": 1706, "end_step": 1775, "id": "4226113c-8638-43b5-b822-753e829f654c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "goal", "start_step": 1776, "end_step": 2075, "id": "8b00dbb4-1b86-46b7-8bc4-4131c8b3aa10"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}, {"label": "home", "start_step": 2091, "end_step": 2117, "id": "EPshbp8GMKaq8CaJRHTw0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}], "episode_index": 16}
+{"source_uid": "9d1abebea8aa7557", "num_frames": 2271, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "2f20d334-825d-4239-8a4e-fa10a0c06288"}, {"label": "valid", "start_step": 0, "end_step": 2242, "id": "iKwM6-u0KbYEDdVGMkAcE"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 196, "end_step": 510, "id": "e2bf4b47-42dd-4539-8b61-97fa0ec7d41d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 511, "end_step": 570, "id": "d22e6e9e-236d-4657-9ac7-a2c09e472600"}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 571, "end_step": 675, "id": "d8d6439b-6159-404b-a078-56c32c34f551"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "goal", "start_step": 676, "end_step": 745, "id": "426bf268-ba25-4c1c-8945-6c75ef2da9f7"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "goal", "start_step": 746, "end_step": 905, "id": "9b2619f0-cb50-4ffc-8d42-98bfc337ca1a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "goal", "start_step": 906, "end_step": 985, "id": "b170808e-143c-42ce-9df4-004b2b3f762a"}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 986, "end_step": 1095, "id": "1e8bc211-2f1d-4959-97bf-523b1008def9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1096, "end_step": 1165, "id": "9be2d4db-5472-4f3e-a65b-39c7caf07bd5"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "goal", "start_step": 1166, "end_step": 1315, "id": "7a02bbcd-47be-40af-a79f-b83c46af5a44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1390, "id": "70094114-3158-4e79-a59d-78dafe86c7e0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1525, "id": "39ab30c2-f001-403e-8e92-30b164e8805e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "goal", "start_step": 1526, "end_step": 1590, "id": "b1bd4d0b-b3c6-4c95-81ba-fbd3d8df8019"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "goal", "start_step": 1591, "end_step": 1770, "id": "15046fe0-9310-4f31-b064-5d5fd2b62a3c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "goal", "start_step": 1771, "end_step": 1855, "id": "78bf552c-d8f4-4524-8f8c-50520381d282"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 1856, "end_step": 2000, "id": "fd0ee29c-2a02-400e-a697-ae42b7462ec1"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "goal", "start_step": 2001, "end_step": 2070, "id": "1a022112-4215-4629-a005-786a2dfb3d70"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "goal", "start_step": 2071, "end_step": 2200, "id": "5e0f3585-7dd9-49d8-aaf4-2e97a59bf484"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}, {"label": "home", "start_step": 2243, "end_step": 2270, "id": "iXBozPSd4hO3fLich8YVW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}], "episode_index": 17}
+{"source_uid": "9d63e2fbbe0e058d", "num_frames": 2153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "ca78978d-1336-449f-bbe2-4051b43a59f5"}, {"label": "valid", "start_step": 0, "end_step": 2123, "id": "7eInSgVvwwU6DdecX_dgF"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "goal", "start_step": 141, "end_step": 350, "id": "85c1c072-07b9-4714-99c2-5ff162627011"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "4fe7619e-794c-4d25-b7bc-0f4a80fbca61"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "goal", "start_step": 421, "end_step": 610, "id": "95a047bb-2064-414c-ad90-01f38a1425c2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 611, "end_step": 710, "id": "d1bbb38f-ed03-4220-9b91-d01b64bc912c"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 711, "end_step": 830, "id": "01d957cf-a3c0-4042-86da-d1e040132678"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 831, "end_step": 905, "id": "9b043b86-57e3-4820-9bce-16e31a55a39a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "goal", "start_step": 906, "end_step": 1030, "id": "141f8c5c-8b14-4d0e-9d15-225a7937eb0f"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "goal", "start_step": 1031, "end_step": 1105, "id": "1dabefe1-0e42-432a-a557-e0e28723099c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1106, "end_step": 1210, "id": "56b5fe8b-a25c-4d65-b98c-3dc236cd90ff"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "goal", "start_step": 1211, "end_step": 1295, "id": "6bd86c74-77f9-4540-b3ef-52fcd666958a"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "goal", "start_step": 1296, "end_step": 1455, "id": "1d37d26d-cd24-4dbb-af07-2678fff30630"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "goal", "start_step": 1456, "end_step": 1530, "id": "4e315a0d-e19e-4e0c-a143-dc4fefaf4c3c"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1531, "end_step": 1640, "id": "ea3f6d0e-ea6a-4586-8f95-e8609a7a0622"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1641, "end_step": 1705, "id": "e3f48584-0f14-41d1-b268-48504a478dc3"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 1706, "end_step": 1850, "id": "93dc1b2d-b91c-4ca5-981c-a3716e440ca3"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "goal", "start_step": 1851, "end_step": 1920, "id": "7dcb4c9f-91ce-4ca1-b1f4-f7792c6a3a67"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "goal", "start_step": 1921, "end_step": 2080, "id": "a5e722fb-ed36-4427-925f-e98054311dcb"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}, {"label": "home", "start_step": 2124, "end_step": 2152, "id": "nBgFD1aGiCNDqLJf73umO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}], "episode_index": 18}
+{"source_uid": "b71664c48074e02a", "num_frames": 1977, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "159c5ff4-0330-4e41-8072-e0d0169efc1c"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QX5Y22cL1J6YVsyANbgzS"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 290, "id": "7cd92623-e3c6-4d77-8ee0-3bb1247fc6f2"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "goal", "start_step": 291, "end_step": 360, "id": "f9ff4781-c02b-4fa7-96f2-a0120b8ce2d2"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "goal", "start_step": 361, "end_step": 460, "id": "cf9d9f73-d23a-4901-a620-e4bc2db999e3"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 540, "id": "b04969eb-58a2-4f93-b361-291fada6a435"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "goal", "start_step": 541, "end_step": 650, "id": "c805d3a1-736f-4976-b587-d286d11d96be"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 651, "end_step": 785, "id": "582d8f28-5d01-44e5-ab83-0522f9163895"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 786, "end_step": 900, "id": "a80c6131-e97c-4ca7-bbe4-f2a555bcd719"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 980, "id": "6c3dfb92-b100-4cf4-a038-1fd8f9b5f9d5"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 981, "end_step": 1095, "id": "b6940ff2-4d7c-49f5-a0ea-8770e5d6c78c"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1096, "end_step": 1160, "id": "2ce917d0-1070-4115-a602-8c5d489ec6fe"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1161, "end_step": 1295, "id": "eafb8566-da26-4ea3-9d06-d9a293dddf1d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1296, "end_step": 1385, "id": "8e7cc425-47c0-4d58-bf28-16382bbc2483"}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "goal", "start_step": 1386, "end_step": 1515, "id": "1f99ff46-52a5-4967-801a-ddd8171e93af"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1516, "end_step": 1590, "id": "6154053e-1b0a-419d-8f88-6f8173ae1ed7"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1591, "end_step": 1705, "id": "b8d4348d-858f-454d-a081-838db25b27ed"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1706, "end_step": 1795, "id": "9cc3b490-7d89-4079-a49e-668ab303285d"}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1796, "end_step": 1920, "id": "04402a0c-62de-49da-abe4-46cc7bd1d74b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}, {"label": "home", "start_step": 1944, "end_step": 1976, "id": "537SMeLkJbn5Xb4w4wSSx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}], "episode_index": 19}
+{"source_uid": "21ab6eee1b7d9a2c", "num_frames": 1958, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "74ef4f1c-c97e-4770-a958-1b589a9f6f45"}, {"label": "valid", "start_step": 0, "end_step": 1925, "id": "0HMcxnDvAtRyDRQNuqs_v"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 111, "end_step": 235, "id": "66788235-663e-4c0b-a57f-343b8a49f24f"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "goal", "start_step": 236, "end_step": 280, "id": "bfa77149-6d97-4e2a-a437-7d5534895d60"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 281, "end_step": 490, "id": "22ea5f5c-0357-4794-a84d-69d555a08396"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "goal", "start_step": 491, "end_step": 550, "id": "8d078fe0-f631-4273-abe9-cd7b54ed797a"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 551, "end_step": 700, "id": "d58209c7-3625-449c-b98b-d1467a475797"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "70e7a26b-09c3-48f7-a9cf-45128db4e350"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "goal", "start_step": 766, "end_step": 875, "id": "4e118cd7-2dc7-41d0-b793-d9218fd78915"}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "goal", "start_step": 876, "end_step": 940, "id": "9156ffb9-ea99-4bb6-b69a-5d591378d160"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 941, "end_step": 1040, "id": "5250d874-3f88-4272-836e-1b9c2b950f96"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "goal", "start_step": 1041, "end_step": 1115, "id": "2c70cb4f-cb2e-46d4-ba69-8a85f36434a7"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "goal", "start_step": 1116, "end_step": 1280, "id": "895435b7-ffa5-4f8a-9285-b93d8177791f"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "goal", "start_step": 1281, "end_step": 1350, "id": "5428274e-6acc-4f39-b50c-3acd65c283ea"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1351, "end_step": 1500, "id": "08bb8cc1-28ab-44ba-a1ee-c52cf6efae86"}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1501, "end_step": 1560, "id": "c8263d6d-59cd-424f-a824-37a244c6aa18"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1720, "id": "9212ef52-5b1a-4f68-92fa-a8c3656d4d5f"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "goal", "start_step": 1721, "end_step": 1785, "id": "4ccfc880-d00a-45cd-b230-0676aa4f2343"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1786, "end_step": 1885, "id": "8e57f85c-b8be-48be-b7f4-f0265d0d3f86"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}, {"label": "home", "start_step": 1926, "end_step": 1957, "id": "zU0yAK6jhkrMPWWaYUc3A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}], "episode_index": 20}
+{"source_uid": "6e44ae99eadf8304", "num_frames": 1972, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "bc4c8998-8b9a-46a2-8206-eefaeb8ee8fd"}, {"label": "valid", "start_step": 0, "end_step": 1938, "id": "KoUKPqTDdhyMkL33Ub11l"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "1a91cca8-0301-4dcc-80ca-5a2452502a03"}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "goal", "start_step": 271, "end_step": 345, "id": "c93e49bb-9c88-4384-bad0-854bb4da5ab7"}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "goal", "start_step": 346, "end_step": 485, "id": "baa1537b-83ce-4349-9c52-b74d44d21a10"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "goal", "start_step": 486, "end_step": 560, "id": "75b1b0a2-5917-452e-9b8f-7b2ba38621d1"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "goal", "start_step": 561, "end_step": 805, "id": "c5c9f9d2-a15f-47ae-a7de-2b44b69d52a7"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 806, "end_step": 870, "id": "af57487d-e8e6-4b7a-bd82-417c86e9206a"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 871, "end_step": 1005, "id": "96e0325a-7b93-4abf-ade0-7dd1e1c96954"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "goal", "start_step": 1006, "end_step": 1075, "id": "9b3ac2e7-96a1-43b7-a772-1a5e2c120b1a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "goal", "start_step": 1076, "end_step": 1210, "id": "2860a3f5-fb0e-4959-b93c-67905770b2f4"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "goal", "start_step": 1211, "end_step": 1270, "id": "d8bbb7e6-eaf2-4f09-af8c-69d4b672b66e"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1410, "id": "39a23c86-cb29-4876-8905-3ffca57a46cd"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1411, "end_step": 1470, "id": "a1676222-7802-4c84-ba91-c13bf56a15e3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1471, "end_step": 1570, "id": "07cb9649-6d99-47f5-a865-c048d6278d5b"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "goal", "start_step": 1571, "end_step": 1625, "id": "bad3d5a2-30a8-4b2f-922a-e5030646e215"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1626, "end_step": 1755, "id": "e469c81d-f90b-40bc-96c7-0545f844811b"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1756, "end_step": 1800, "id": "c5a71f77-c469-43ad-9cf8-493953ff5373"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "goal", "start_step": 1801, "end_step": 1910, "id": "ed6bea63-8b73-4a3d-8bd5-b862233b14be"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 1939, "end_step": 1971, "id": "2kk1Om36grzlbSu7ZiycC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}], "episode_index": 21}
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grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 275, "id": "26de76ad-6945-4e3a-b9dc-e5a640597725"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", 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lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "528c00a8-baf4-49a8-80da-55ef43fb77a2"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1301, "end_step": 1415, "id": "83fb8b70-a124-4821-a9a1-94dc2930d811"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "goal", "start_step": 1416, "end_step": 1540, "id": "ef61ed00-eeee-482d-bd67-0b31cfdbe3bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1541, "end_step": 1655, "id": "2d985b60-225a-4ec7-b51d-ec3b6906778b"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1656, "end_step": 1710, "id": "6634bd6d-1bfa-4141-8ab4-28bac99b2e77"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1711, "end_step": 1960, "id": "f09a1b3c-485d-4899-a9a8-d96e37366e08"}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}, {"label": "home", "start_step": 1991, "end_step": 2020, "id": "unaIlcAA7QCh58fLyIy3M"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand 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without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}], "episode_index": 22}
+{"source_uid": "5de54cbf398ccbeb", "num_frames": 1983, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "fba73d9d-e5f1-48a1-a1d0-e9985c3679c4"}, {"label": "valid", "start_step": 0, "end_step": 1952, "id": "4FVffk8e5aYC9AvVWcuWA"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "goal", "start_step": 151, "end_step": 260, "id": "3b54155e-65ac-4719-941f-634b3d07c61c"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "goal", "start_step": 261, "end_step": 350, "id": "23ea4bc4-c7d4-46ed-80ed-03a9e58c28c0"}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 510, "id": "e7344aba-bc42-4289-b63d-a01b21b6a660"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "goal", "start_step": 511, "end_step": 580, "id": "11a6ee35-0b80-4b7a-8de6-caaa7e806355"}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "goal", "start_step": 581, "end_step": 720, "id": "43aa58ad-4d77-4d20-8112-52e2c6a56dea"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "goal", "start_step": 721, "end_step": 795, "id": "8ff66ec0-2d62-4962-ba63-4ff640bff852"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "goal", "start_step": 796, "end_step": 940, "id": "093b862c-0edc-4b1e-a6b3-8f6ded1b808a"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "goal", "start_step": 941, "end_step": 1005, "id": "feea5b1b-dc82-4509-b2e7-c40dd047c34e"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 1006, "end_step": 1100, "id": "e5310bb0-785f-4a18-af64-b42f85d638c7"}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1101, "end_step": 1175, "id": "e5016638-e48d-4d77-a0e8-d1a57c9048a3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1176, "end_step": 1320, "id": "ec3d90d2-d3da-482e-b8b1-cc4e42cb72db"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "goal", "start_step": 1321, "end_step": 1395, "id": "60e8aea3-16dd-4f92-a17d-5a7bc292d6c4"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "goal", "start_step": 1396, "end_step": 1505, "id": "a643560f-b49c-4196-a64e-b5c692700532"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 1506, "end_step": 1570, "id": "3829fcc8-518e-4465-93a2-e31e42914214"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "8def124e-5645-457d-b971-303058e520f4"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1805, "id": "70bfd90b-e6ee-452b-a94a-639cbadbaded"}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1920, "id": "fe24ae26-d71f-4928-8a10-f247e0797c61"}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}, {"label": "home", "start_step": 1953, "end_step": 1982, "id": "FBbwRxm9tS49ES-YpEmJh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}], "episode_index": 23}
+{"source_uid": "f309141933affada", "num_frames": 2613, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "4e1a827c-1f9f-4863-8834-1081cdb201eb"}, {"label": "valid", "start_step": 0, "end_step": 2579, "id": "wBVrgn1im-JPXcUZDgAlq"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 220, "id": "898d9e51-c8dc-4f22-9754-1eff3c6eeb52"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "e651d317-fb72-4058-8737-5c92a7cd40f4"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "6e4b08c6-7dc2-49e4-9db2-07605036639a"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 386, "end_step": 470, "id": "cbfa5e5a-4d15-42e7-a4ef-6fb6366c6ccf"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 471, "end_step": 575, "id": "ed9bbfba-68fe-4a6f-b815-27b989ad0816"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "goal", "start_step": 576, "end_step": 635, "id": "c6a3c8b2-0bed-4f8b-9faa-951c1d1c64b6"}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 636, "end_step": 820, "id": "6bf8c6a3-fd02-4078-b42b-f000f763c791"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 821, "end_step": 940, "id": "31037bd2-4875-466b-ba01-26984329da36"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 941, "end_step": 1035, "id": "c89839e9-74c1-4817-9697-a3d114d920ec"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "goal", "start_step": 1036, "end_step": 1180, "id": "1ddc96c9-15bd-4d0c-9694-985fd66522f3"}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "goal", "start_step": 1181, "end_step": 1425, "id": "bc539d48-31b8-4c67-a27c-2198ba3ab68b"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1470, "id": "a1d37dd5-008f-44b8-9481-52351cd2925a"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "goal", "start_step": 1471, "end_step": 1600, "id": "f2078fac-ec1c-4cc2-89bf-14ea67bf7a05"}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1601, "end_step": 1660, "id": "9010775c-9606-49a6-8f6f-2f2cb4157acf"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1661, "end_step": 1775, "id": "5edbfc7e-535d-4d97-ae7d-3abc23506bd8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1776, "end_step": 1845, "id": "24a5aeb0-ebbe-482d-b294-f67f0f748267"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "goal", "start_step": 1846, "end_step": 2545, "id": "2366c883-464c-4190-8d47-584cc2ec9e9c"}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}, {"label": "home", "start_step": 2580, "end_step": 2612, "id": "rGjyJNaZ2ah1-LK3IHp4I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}], "episode_index": 24}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61aaddc4ebb1a2c25e748893c4997b3a0d95d37f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,25 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 2979}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 3003}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 2168}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 2025}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 2030}
+{"episode_index": 5, "tasks": ["Task: TicTacToe"], "length": 2139}
+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 2136}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 2180}
+{"episode_index": 8, "tasks": ["Task: TicTacToe"], "length": 2119}
+{"episode_index": 9, "tasks": ["Task: TicTacToe"], "length": 2713}
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+{"episode_index": 14, "tasks": ["Task: TicTacToe"], "length": 2194}
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+{"episode_index": 17, "tasks": ["Task: TicTacToe"], "length": 2271}
+{"episode_index": 18, "tasks": ["Task: TicTacToe"], "length": 2153}
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+{"episode_index": 21, "tasks": ["Task: TicTacToe"], "length": 1972}
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+{"episode_index": 23, "tasks": ["Task: TicTacToe"], "length": 1983}
+{"episode_index": 24, "tasks": ["Task: TicTacToe"], "length": 2613}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..044955be50627cdd286158e5418633c07f038a82
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/episodes_stats.jsonl
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..363850238b1316044b342d7e436dbd0ab55ed38b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..168b2f00ea2404515e11e04ae7348892d1d496e0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,1349 @@
+{"subtask_index": 0, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward from the right side of the black table toward the central block rack, with fingers slightly open and wrist rotating slightly."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the central rack, with minor adjustments of fingers and wrist to stabilize the grip."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green block upward to separate it from the support peg on the rack."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the green block moving downward and leftward to the target position on the table surface."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the green block downward onto the black table until the block is fully supported by the table."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to above the leftmost peg of the wooden base."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden base, aligning the block's hole with the peg."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to secure it in place, then releases the block."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white hexagonal block on the same peg and grasps it with fingers closing."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward along the peg."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring-shaped part onto the left purple post and releases the part."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to above a purple peg on the pegboard."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning it and lowering it down the peg."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the left purple peg and releases the piece."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table surface."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to the position above the front-left purple peg on the wooden base."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the front-left purple peg and lowers the piece down the peg to complete assembly."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening to separate from the object."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow cylindrical part onto the purple peg of the wooden pegboard and releases its grip on the part."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the table in front of the pegboard and grasps it with closing fingers."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table in front of the wooden peg board, with fingers closing around the part."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and moves it upward and toward the middle purple peg on the wooden board."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the middle purple peg, fits it onto the peg, and makes minor vertical adjustments to the part's position on the peg."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the bottom of the purple peg and releases its grip on the block."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to above the target peg on the wooden board."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}
+{"subtask_index": 63, "subtask": "Task: TicTacToe"}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}
+{"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 adjusts the grip on the white hexagonal block for subsequent operation."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark 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 white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}
+{"subtask_index": 176, "subtask": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}
+{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}
+{"subtask_index": 210, "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 upper green hexagonal block off the table and transports it upward toward the wooden base."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}
+{"subtask_index": 217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}
+{"subtask_index": 224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}
+{"subtask_index": 381, "subtask": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}
+{"subtask_index": 479, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}
+{"subtask_index": 495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}
+{"subtask_index": 499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}
+{"subtask_index": 500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}
+{"subtask_index": 501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}
+{"subtask_index": 505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}
+{"subtask_index": 506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}
+{"subtask_index": 511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}
+{"subtask_index": 513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}
+{"subtask_index": 514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}
+{"subtask_index": 518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}
+{"subtask_index": 525, "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 second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}
+{"subtask_index": 539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}
+{"subtask_index": 540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}
+{"subtask_index": 542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}
+{"subtask_index": 543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}
+{"subtask_index": 544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}
+{"subtask_index": 545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}
+{"subtask_index": 546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}
+{"subtask_index": 555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}
+{"subtask_index": 565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}
+{"subtask_index": 575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}
+{"subtask_index": 576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}
+{"subtask_index": 579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}
+{"subtask_index": 595, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}
+{"subtask_index": 606, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}
+{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}
+{"subtask_index": 710, "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 cubic block on the peg, with fingers opening to separate from the block."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}
+{"subtask_index": 808, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}
+{"subtask_index": 844, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 845, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}
+{"subtask_index": 846, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}
+{"subtask_index": 848, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}
+{"subtask_index": 849, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}
+{"subtask_index": 850, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}
+{"subtask_index": 852, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}
+{"subtask_index": 854, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}
+{"subtask_index": 855, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}
+{"subtask_index": 856, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}
+{"subtask_index": 857, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 858, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}
+{"subtask_index": 859, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}
+{"subtask_index": 860, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}
+{"subtask_index": 861, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}
+{"subtask_index": 862, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}
+{"subtask_index": 866, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 867, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 869, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}
+{"subtask_index": 872, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 874, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}
+{"subtask_index": 879, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}
+{"subtask_index": 883, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}
+{"subtask_index": 885, "subtask": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}
+{"subtask_index": 886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}
+{"subtask_index": 887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}
+{"subtask_index": 897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}
+{"subtask_index": 904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}
+{"subtask_index": 909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}
+{"subtask_index": 910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}
+{"subtask_index": 911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}
+{"subtask_index": 932, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}
+{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}
+{"subtask_index": 946, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}
+{"subtask_index": 983, "subtask": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}
+{"subtask_index": 1016, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}
+{"subtask_index": 1020, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}
+{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}
+{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}
+{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}
+{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}
+{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}
+{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}
+{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}
+{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}
+{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}
+{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}
+{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 1077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}
+{"subtask_index": 1079, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}
+{"subtask_index": 1099, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}
+{"subtask_index": 1100, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}
+{"subtask_index": 1105, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}
+{"subtask_index": 1122, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}
+{"subtask_index": 1127, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1129, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}
+{"subtask_index": 1130, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}
+{"subtask_index": 1132, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}
+{"subtask_index": 1136, "subtask": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}
+{"subtask_index": 1140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}
+{"subtask_index": 1169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}
+{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}
+{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}
+{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}
+{"subtask_index": 1186, "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 cube on the bottle, with fingers opening and separating from the cube."}
+{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}
+{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}
+{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}
+{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}
+{"subtask_index": 1195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position above the purple post of the wooden stacking base."}
+{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}
+{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}
+{"subtask_index": 1198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}
+{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}
+{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}
+{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}
+{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block placed on the table in front of the wooden base."}
+{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}
+{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}
+{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}
+{"subtask_index": 1206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}
+{"subtask_index": 1207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}
+{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}
+{"subtask_index": 1209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}
+{"subtask_index": 1211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}
+{"subtask_index": 1212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 1213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}
+{"subtask_index": 1214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}
+{"subtask_index": 1216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}
+{"subtask_index": 1217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}
+{"subtask_index": 1218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}
+{"subtask_index": 1219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}
+{"subtask_index": 1220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}
+{"subtask_index": 1222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}
+{"subtask_index": 1224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}
+{"subtask_index": 1225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}
+{"subtask_index": 1226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}
+{"subtask_index": 1227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}
+{"subtask_index": 1228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}
+{"subtask_index": 1229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}
+{"subtask_index": 1230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}
+{"subtask_index": 1231, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}
+{"subtask_index": 1232, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}
+{"subtask_index": 1233, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}
+{"subtask_index": 1234, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}
+{"subtask_index": 1235, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}
+{"subtask_index": 1236, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}
+{"subtask_index": 1237, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}
+{"subtask_index": 1238, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}
+{"subtask_index": 1239, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}
+{"subtask_index": 1240, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}
+{"subtask_index": 1241, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}
+{"subtask_index": 1242, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}
+{"subtask_index": 1243, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}
+{"subtask_index": 1244, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}
+{"subtask_index": 1245, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}
+{"subtask_index": 1246, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}
+{"subtask_index": 1247, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}
+{"subtask_index": 1248, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}
+{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}
+{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}
+{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}
+{"subtask_index": 1282, "subtask": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}
+{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}
+{"subtask_index": 1333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}
+{"subtask_index": 1334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/tasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3606c7d62df09a7ba7d1d3b13ec5cfb5e44fa63
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: TicTacToe"}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9d74a50c009d403430e9f97de86b44f4803e51
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 25,
+  "frames": 57215,
+  "video_frames": {
+    "observation.images.head_left": 57215,
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"ffcdec9c-83b7-43d1-8ec7-0cbddc2b9402"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 2168, "end_step": 2387, "id": "d03147d4-e251-4158-a665-79cf18dc7de4"}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "goal", "start_step": 2388, "end_step": 2492, "id": "fcf690a2-4093-46a1-b8b7-33898a2ad3e4"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2493, "end_step": 2662, "id": "5b2493f5-6143-47a2-9743-0f829a107148"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "goal", "start_step": 2663, "end_step": 2737, "id": "e120a494-c491-4726-be6c-fbc7656c58a4"}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "goal", "start_step": 2738, "end_step": 2907, "id": "b919859c-1f6f-49d4-ad18-e08fa66c63e3"}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 2951, "end_step": 2978, "id": "imLQOLR2vKP7Z77KbjKX8"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward from the right side of the black table toward the central block rack, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the central rack, with minor adjustments of fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green block upward to separate it from the support peg on the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the green block moving downward and leftward to the target position on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the green block downward onto the black table until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to secure it in place, then releases the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white hexagonal block on the same peg and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward along the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring-shaped part onto the left purple post and releases the part."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to above a purple peg on the pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning it and lowering it down the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the left purple peg and releases the piece."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the front-left purple peg and lowers the piece down the peg to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow cylindrical part onto the purple peg of the wooden pegboard and releases its grip on the part."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the table in front of the pegboard and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table in front of the wooden peg board, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and moves it upward and toward the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the middle purple peg, fits it onto the peg, and makes minor vertical adjustments to the part's position on the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1778, "end_step": 1881, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}], "episode_index": 0}
+{"source_uid": "38aeb8f17df4b0d6", "num_frames": 3003, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "803f0c8c-3ca7-4044-859e-de94e1e86532"}, {"label": "valid", "start_step": 0, "end_step": 2975, "id": "li0fzGBvTOLB8XxxjwQod"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 315, "id": "7227ce29-66b0-4f13-9c7e-df4c606baf3e"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 316, "end_step": 380, "id": "6e5c7ffa-3478-4ce0-a073-eecbf35a2203"}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "goal", "start_step": 381, "end_step": 535, "id": "5d9d80a1-212a-455e-9d62-2e2c85aeed9d"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 536, "end_step": 610, "id": "f7d08fd6-a907-4d90-9dd3-9b3821102d5a"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 611, "end_step": 1010, "id": "be528fc3-b94e-4745-a7ac-5c07bfc58f4d"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "goal", "start_step": 1011, "end_step": 1055, "id": "73c4b812-75b6-45b2-9745-7df07237c662"}, {"label": "goal", "start_step": 1056, "end_step": 1200, "id": "566a9581-29e2-43dc-8342-55c9c5cc3920"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1201, "end_step": 1270, "id": "d53d81d1-a16e-43cc-b8df-af0c22d506ae"}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1400, "id": "8da1ada1-53bb-4c9e-b676-7d57e21b549f"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1401, "end_step": 1465, "id": "22eb341f-a76e-4e61-9dbb-e76cd01ae733"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1466, "end_step": 1825, "id": "b52c76be-85dd-4bfa-8eb0-6b3aaa8900b3"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "goal", "start_step": 1826, "end_step": 2365, "id": "478e5425-2676-4d03-87b4-41d910af4531"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "goal", "start_step": 2366, "end_step": 2495, "id": "5ec32319-c85e-42e6-9c35-9ff62c0912b2"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2496, "end_step": 2560, "id": "b58ebab4-86d2-43bc-92db-cd66fc77c9a9"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2561, "end_step": 2700, "id": "40af0d1b-da15-428a-a8f9-bf104afc381f"}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "goal", "start_step": 2701, "end_step": 2795, "id": "1cd8da7f-6b3b-4316-82fd-8e51f1267b94"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2796, "end_step": 2940, "id": "77b7105e-b967-4f84-a0f3-c52e42fec78a"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}, {"label": "home", "start_step": 2976, "end_step": 3002, "id": "5eNXO_h1ybynXsO4bbF37"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}], "episode_index": 1}
+{"source_uid": "1599f40e13fad3c3", "num_frames": 2168, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "c7d04a2b-60c0-4611-9f8a-77eaffe1042d"}, {"label": "valid", "start_step": 0, "end_step": 2140, "id": "6URSlmtc9OQ_2228aU4uA"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 221, "end_step": 365, "id": "4d934f5a-a977-4e43-8ead-59a39ae5e9c7"}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "goal", "start_step": 366, "end_step": 430, "id": "83848e12-68c4-471c-b513-19d33aae2b2a"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 431, "end_step": 585, "id": "b171322a-b104-4c9f-acd1-bf1c839ab648"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "goal", "start_step": 586, "end_step": 655, "id": "6373217d-594f-4935-9e21-c2eda2ce3a32"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "6300a3e2-0814-4cfe-a72e-79c49999391d"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 895, "id": "7f2583b1-74c6-4b20-8292-b026a389e636"}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "goal", "start_step": 896, "end_step": 1050, "id": "78425eae-b303-4f3f-bef9-09d3ca907a3b"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1051, "end_step": 1100, "id": "244e7277-6aea-435b-a013-59ee04281014"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1101, "end_step": 1230, "id": "fd41635b-c79f-465c-8b8a-29eee41b5a42"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "050d1b8d-251e-4a37-bbe0-6268bbd05e31"}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "goal", "start_step": 1301, "end_step": 1470, "id": "fee9d0c3-fd1b-44bf-bae5-fd688244c7fe"}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 1471, "end_step": 1530, "id": "3ee7aa47-7161-47d3-b907-fced444bc6df"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 1531, "end_step": 1655, "id": "96be7785-7a8b-47f8-b4df-9246bb161a22"}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1656, "end_step": 1725, "id": "638d3a50-36df-4e23-ad7b-c4274b3d2c69"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "goal", "start_step": 1726, "end_step": 1920, "id": "37c21f73-5ec9-4dca-8cc8-94244b10b820"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "goal", "start_step": 1921, "end_step": 1975, "id": "1a10ebec-030c-46a8-8d17-33477cfd1a58"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "goal", "start_step": 1976, "end_step": 2095, "id": "61b5e192-4097-4cc8-bd83-453f2039a55c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}, {"label": "home", "start_step": 2141, "end_step": 2167, "id": "qoOZFNDQxxjYyh5NdbHKa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}], "episode_index": 2}
+{"source_uid": "2aeb3d8a77a44dd0", "num_frames": 2025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6b6e85d9-2970-4e46-b4d2-a11c8dfa0a6b"}, {"label": "valid", "start_step": 0, "end_step": 1992, "id": "Mvd2p787BZi_fR5Jge8G1"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 280, "id": "b7d5e327-5e9f-4c6f-8b1b-8ef62fa80305"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 281, "end_step": 340, "id": "5e7e8c2a-7573-4f36-bb2f-91c691424818"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "goal", "start_step": 341, "end_step": 475, "id": "c67aa3f9-e67f-4747-a1fc-163e8732fe99"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 476, "end_step": 535, "id": "85a86158-eee0-47e2-8186-2071e9402fa7"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 536, "end_step": 770, "id": "4be62c98-ae44-4de8-ba0f-a846b8c1a5f0"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "goal", "start_step": 771, "end_step": 825, "id": "2b473f95-73c0-41f1-9ae0-e16b7239c075"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 960, "id": "15bc99c9-9263-4403-8424-66ef18915047"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "goal", "start_step": 961, "end_step": 1025, "id": "031cbf8e-cc6d-4d4d-9c27-ff1a0f37b1c4"}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1026, "end_step": 1145, "id": "65b4acf3-e0ac-4b80-877f-1a090d955268"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1146, "end_step": 1205, "id": "b90c5765-f1be-4692-936f-abac4fcc4e38"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "2744936f-d2bb-45de-b8f2-7c5fe1fdeaba"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1380, "id": "b74b4e3c-a60f-4e30-8b74-eadbd517269d"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1381, "end_step": 1550, "id": "c7caf495-7a7e-4a36-a358-4eb2cc5056e9"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "goal", "start_step": 1551, "end_step": 1615, "id": "beafef45-bbed-49d2-bd5f-83a973e0208a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1745, "id": "f7aacb9f-9071-4154-b4e2-0e63b3072648"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "goal", "start_step": 1746, "end_step": 1815, "id": "9814f903-988d-4b19-ac50-f323dea94d98"}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "goal", "start_step": 1816, "end_step": 1950, "id": "00866fef-3840-495b-a4ce-a25697423c7c"}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}, {"label": "home", "start_step": 1993, "end_step": 2024, "id": "mfdF9UAGZ2sCs54Nxr8Ei"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}], "episode_index": 3}
+{"source_uid": "c42ddb79197afbe6", "num_frames": 2030, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "45b83f39-3b70-4d1d-b8dc-8c4c819c00c6"}, {"label": "valid", "start_step": 0, "end_step": 2001, "id": "Kv3yvgtom3ConWEskPFIm"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 116, "end_step": 250, "id": "2c06ade9-a656-48c9-9cc1-260218b13152"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 320, "id": "4374f89c-7c13-475d-b5ca-b93f83ccecee"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 321, "end_step": 455, "id": "c7a176b7-94b2-4910-b1a3-324ab6ec5b26"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 456, "end_step": 530, "id": "9fa98738-6701-4e8d-9879-df96b1766d9a"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 531, "end_step": 660, "id": "6d62d200-1643-4647-9222-e6618a6b2ecc"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 661, "end_step": 725, "id": "d29c542d-c3fe-4d16-b592-4117a21052fa"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 726, "end_step": 855, "id": "b06eda1b-449f-4667-863d-1b19ad515bb0"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "9379f2ab-d69b-4e89-83ef-2cf53a008145"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "eb6e7f7e-8418-4e8b-a290-727f51b1b317"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1270, "id": "c5717cd8-c8a3-46f2-9bc3-94400f03770f"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1271, "end_step": 1415, "id": "b85444ee-c022-4d4a-a6b3-46cd874d54a3"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1500, "id": "687ee248-d98f-4bc7-8f19-6a327512e1a4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1615, "id": "6278c80a-4190-43da-95a0-6fd6c458771c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "goal", "start_step": 1616, "end_step": 1675, "id": "b16a7cc9-f8ae-420d-81fb-9ae4ba99c315"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1676, "end_step": 1782, "id": "41915b1c-321d-4d45-8292-24c31b953a75"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "goal", "start_step": 1783, "end_step": 1842, "id": "f43ac6ec-1e9c-4b8e-a89d-758a8a22bb25"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1843, "end_step": 1967, "id": "87866c8f-87fa-4957-be4a-18f7b6005825"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}, {"label": "home", "start_step": 2002, "end_step": 2029, "id": "0mo1Dde824HQsYbY8F7lg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}], "episode_index": 4}
+{"source_uid": "007b76ed2478ccdd", "num_frames": 2139, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "895ca5e2-0e83-4a00-b32a-412f086d684b"}, {"label": "valid", "start_step": 0, "end_step": 2106, "id": "DHFiLctO_qrmACIDAsMMa"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "goal", "start_step": 141, "end_step": 265, "id": "4bb09a1c-0a3a-4149-a9df-e45f5460f16f"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "goal", "start_step": 266, "end_step": 475, "id": "f46b1362-7b6c-47b3-9e3f-bf4627b654ea"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "goal", "start_step": 476, "end_step": 610, "id": "d0bc2172-4f14-4ba0-9692-1588027124bc"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 611, "end_step": 685, "id": "7f1a21f8-fb2d-4032-874b-1499dd413caf"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 686, "end_step": 810, "id": "7bbff2f2-e8b8-47d5-8a05-a3419ffc2ad3"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "goal", "start_step": 811, "end_step": 880, "id": "72bec814-bcec-4482-a345-1174a8fdb7ca"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "goal", "start_step": 881, "end_step": 1000, "id": "15b16b6d-f1e3-4186-a15d-201a2dd99784"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1001, "end_step": 1080, "id": "53799dbd-9e11-45a4-aee8-ebc657dc260f"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1081, "end_step": 1225, "id": "f8a32900-6334-4c84-9fdb-b103590c55cc"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "goal", "start_step": 1226, "end_step": 1310, "id": "5c987805-361d-4756-bb45-62f9a36c1243"}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1311, "end_step": 1435, "id": "a9c0db38-b1bf-41c1-8da9-07df99a7abdf"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "goal", "start_step": 1436, "end_step": 1510, "id": "b84a4375-0f42-4b9f-a8fc-83df48f08dee"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "goal", "start_step": 1511, "end_step": 1670, "id": "8b01b7db-0d23-4e8b-879b-26cf5f93484a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "05cc0eec-9080-4e96-baf2-35e37414cb50"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1875, "id": "4a5113a7-63ab-4701-a80b-2480a3a8f822"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1876, "end_step": 1945, "id": "75914211-9598-4776-81c0-ac0d9d6bfd42"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "goal", "start_step": 1946, "end_step": 2065, "id": "253aa68f-a588-41d3-8968-70b7fceb6403"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}, {"label": "home", "start_step": 2107, "end_step": 2138, "id": "l4ZBNyPiqgxLoSuwcOw36"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}], "episode_index": 5}
+{"source_uid": "f26b99acecef5f87", "num_frames": 2136, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "88b8c4a0-ac56-4d33-8f4b-cd59afd2ea3d"}, {"label": "valid", "start_step": 0, "end_step": 2104, "id": "rnl4QRNDAPBMbbfAoN0JQ"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "goal", "start_step": 156, "end_step": 330, "id": "6db0e960-a523-4d36-9985-c985c9566870"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "goal", "start_step": 331, "end_step": 380, "id": "ce7d43b6-27d0-4b1a-83fd-e8ee04d62b2a"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "goal", "start_step": 381, "end_step": 545, "id": "dab56fcc-5115-406c-a618-7ce16257eca7"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "goal", "start_step": 546, "end_step": 615, "id": "0495e783-f01a-4907-ab0a-ea1829c52562"}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 616, "end_step": 775, "id": "7b422736-6b73-4c92-9229-206c756cf37f"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "goal", "start_step": 776, "end_step": 850, "id": "f451f33d-69de-4fe6-9b69-18432199ed0f"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "cd6bd78a-51d5-4600-8f8b-fb5535a62038"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "goal", "start_step": 971, "end_step": 1030, "id": "1e28f5f0-ca3b-4a29-a17b-521ce477f328"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1031, "end_step": 1140, "id": "5775e0a3-124a-4863-a09a-f4a0c898928a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1200, "id": "bfe52bab-5ec1-4bb3-bff2-8009365ae9a7"}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "goal", "start_step": 1201, "end_step": 1315, "id": "46d3e7c7-aa3f-4e34-ac80-079cfa65866d"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "goal", "start_step": 1316, "end_step": 1395, "id": "4f4e7f80-0345-432f-ae49-dbc0b048af56"}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1500, "id": "91080bd7-cea0-4073-ab36-5c337a9bc1c7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "goal", "start_step": 1501, "end_step": 1735, "id": "02af6453-0d1a-4c3c-8f58-a9ba0049996d"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1870, "id": "61872641-bef0-469e-a065-a93fff2cef2c"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1871, "end_step": 1940, "id": "ee463186-eb41-450e-8d2e-a829509207a3"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2065, "id": "68205b5c-edc1-4cbe-836d-9b8c98acb49a"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}, {"label": "home", "start_step": 2105, "end_step": 2135, "id": "i66yhKOOl7sdVC7_7JRsa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}], "episode_index": 6}
+{"source_uid": "3775dfbad9b73d3f", "num_frames": 2180, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "846e1a45-8a09-4f94-8258-88bcf9dd4554"}, {"label": "valid", "start_step": 0, "end_step": 2149, "id": "7vZ_KcgPHqufCvhYEubLv"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 171, "end_step": 350, "id": "60347878-fc0b-44fd-bab3-1ebd11f23238"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "40d6b73a-37a4-4080-8812-40d684243db7"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 560, "id": "3b56bb0d-cf8d-4222-87fe-05533ae95a99"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 561, "end_step": 635, "id": "8ef2ff99-9a74-4639-8db2-b0cf634798a4"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 636, "end_step": 810, "id": "84f98c51-f881-4865-935a-5f5beb0f7fff"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 811, "end_step": 895, "id": "013c2290-006a-4a95-9e48-f22d9da4c5b1"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 896, "end_step": 1025, "id": "99df17ad-a703-45ad-acf9-94ce799c6c14"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "goal", "start_step": 1026, "end_step": 1110, "id": "ff8594dd-645b-4bc8-b259-eb36cd65fd3c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "goal", "start_step": 1111, "end_step": 1215, "id": "82e284f4-a043-45d8-a35e-810d2679d4fd"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1216, "end_step": 1285, "id": "9261b847-d12d-4d08-af59-6ef2d93a1391"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 1286, "end_step": 1415, "id": "0ad9f1fa-5970-4ded-bc24-bde88b4aa9f5"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1460, "id": "07717c65-a669-49f8-92e6-28840da6d3e1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1461, "end_step": 1620, "id": "82d0f595-f85c-4898-afa3-48fa72219ecf"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1621, "end_step": 1690, "id": "b4a89c98-0ede-4af8-9aec-69bf1b7a1e6e"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1691, "end_step": 1925, "id": "007aef89-b943-4105-95a1-f67143f71367"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "1fcee488-3c85-4501-9f25-74882a64edcf"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1986, "end_step": 2110, "id": "5fd29bb2-cebd-4ea5-9a7d-7ba95e3b36d0"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}, {"label": "home", "start_step": 2150, "end_step": 2179, "id": "ydCBdCPmRBG6Pep-sQOTq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}], "episode_index": 7}
+{"source_uid": "71ee42684fa22726", "num_frames": 2119, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 227, "id": "7b23a8b4-8770-4af9-a3d3-35d58e6e1ed8"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "uNS2gzp2eRMb5DxMo80Z6"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 228, "end_step": 512, "id": "c1966246-afc5-42b3-b2cb-9eecf71cee97"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "goal", "start_step": 513, "end_step": 592, "id": "d4a2897c-a2ba-4f60-91ac-9d19f949ba0b"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "goal", "start_step": 593, "end_step": 712, "id": "8dbae334-49eb-47c6-b2aa-9c0666077b15"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "goal", "start_step": 713, "end_step": 792, "id": "16701e46-2918-417f-8814-86ed30240881"}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "goal", "start_step": 793, "end_step": 917, "id": "4ce7278a-3c6c-4497-bfdb-1eda3de72d9c"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "goal", "start_step": 918, "end_step": 987, "id": "7dfe047b-a712-408d-a249-1ba0f02731fb"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "goal", "start_step": 988, "end_step": 1102, "id": "113848ee-4374-4473-b998-8c5b581f6844"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "goal", "start_step": 1103, "end_step": 1167, "id": "a3d2f33e-75a9-4d9b-a405-7165974573ac"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1168, "end_step": 1272, "id": "a487bde6-6581-404c-8607-472d31d5bf32"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1273, "end_step": 1357, "id": "65d0f5e2-3260-4bf5-bfc7-e81142fca3e2"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1358, "end_step": 1472, "id": "0b928197-3104-4df3-b877-697a380bc2b5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "goal", "start_step": 1473, "end_step": 1532, "id": "df21d5c7-47c1-43a8-ab78-1f905ac368ac"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 1533, "end_step": 1637, "id": "efeab232-4b32-4ccd-97d5-989c20d316b5"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "goal", "start_step": 1638, "end_step": 1707, "id": "ce58db7d-593d-4045-8c54-503e3bf5120a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "goal", "start_step": 1708, "end_step": 1812, "id": "1621befa-b7a0-4de8-9c17-dfe728ce937c"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "goal", "start_step": 1813, "end_step": 1897, "id": "31a0648d-7655-4103-a28a-88ab5a495c94"}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "goal", "start_step": 1898, "end_step": 2052, "id": "bfa3dd24-5379-4102-b62a-f16e453067bc"}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}, {"label": "home", "start_step": 2085, "end_step": 2118, "id": "qkSspcvvMnVv4N5jydODc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}], "episode_index": 8}
+{"source_uid": "513864a75e22744d", "num_frames": 2713, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "b4215081-61a5-4ed8-8260-6798d9011e55"}, {"label": "valid", "start_step": 0, "end_step": 2679, "id": "-izBcOl6OyBW1V23CTk4q"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 360, "id": "d7022695-2b7e-40bc-965f-67aad6aebc1e"}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 361, "end_step": 435, "id": "62c1b1d0-072f-48eb-be0d-bad908f51901"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "goal", "start_step": 436, "end_step": 570, "id": "999cbd52-b4f0-40e3-bfa0-24e29b9cb56b"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 571, "end_step": 640, "id": "1f889287-68a1-43e7-b972-0f608446ea07"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "goal", "start_step": 641, "end_step": 795, "id": "d51aa309-9e48-42da-9dc9-0ec9e44c48fa"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 796, "end_step": 870, "id": "e0873649-c10b-49c3-a84e-d6518627222c"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 871, "end_step": 995, "id": "bb10d017-5a14-431f-9db0-97e13e6e6a87"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "goal", "start_step": 996, "end_step": 1060, "id": "ac5db43e-56b3-49e1-aded-25bb07a01ad9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1155, "id": "87bc00ad-b63a-45fa-a630-ca89ff4195be"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1240, "id": "ef03fd54-e6cd-4bd6-9121-ade3eff21a79"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "goal", "start_step": 1241, "end_step": 1345, "id": "e22a70ac-9071-433d-a549-f3d4f4d603a3"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1346, "end_step": 1410, "id": "ea16ff3f-9e26-4219-93dc-721a60cc166f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1411, "end_step": 2110, "id": "02f88ee5-0544-4a15-8719-042f73f6f913"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2111, "end_step": 2180, "id": "902ae01a-ed8f-4d65-b1c4-ab76548b2a4b"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2181, "end_step": 2315, "id": "89003fc1-b110-4259-934f-b9f5b3465f54"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 2316, "end_step": 2390, "id": "b338fbf1-b127-4d89-b5cd-f6392274e143"}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2391, "end_step": 2637, "id": "6f790415-afd2-44a9-8c9a-d66c98e3a09a"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}, {"label": "home", "start_step": 2680, "end_step": 2712, "id": "XFzqlucLlT5VdnsBR7FXK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}], "episode_index": 9}
+{"source_uid": "73bd649b6540e5d6", "num_frames": 2361, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "ae3a0d33-2b75-4796-b860-5b8dd19d269b"}, {"label": "valid", "start_step": 0, "end_step": 2329, "id": "MvIgK8wXQ035GTXtdg1af"}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "goal", "start_step": 146, "end_step": 285, "id": "81ad4dc9-2803-4ad9-bfd7-aaf901aaf027"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "goal", "start_step": 286, "end_step": 370, "id": "61cf4ea8-0cde-4c2b-84f8-cf00d6336715"}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 371, "end_step": 515, "id": "59f84b89-3988-488f-9c07-c3cec5fc3b8f"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 516, "end_step": 595, "id": "75224172-73c2-4cfd-852f-7d334ededa3a"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 596, "end_step": 845, "id": "f1607859-1cec-4e55-8e59-e6b6a2e4ca06"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 846, "end_step": 950, "id": "578ed4be-49ff-440a-a256-334acf28b751"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 951, "end_step": 1105, "id": "7e6d7210-e4ad-4981-9d41-a3d3909362b0"}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1106, "end_step": 1160, "id": "75dc598c-6313-4c3c-ae0b-9b8147f05010"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 1161, "end_step": 1285, "id": "1eab20ca-13e2-403b-9248-019699d08729"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "goal", "start_step": 1286, "end_step": 1355, "id": "c24a2e94-a38c-4c08-9254-3da8fc28f513"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1356, "end_step": 1490, "id": "bf7ed551-c18e-4df3-9eea-12200065257f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1575, "id": "32cbb961-07a7-479c-a863-4631ec83602a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "goal", "start_step": 1576, "end_step": 1680, "id": "67734bf0-efbe-4646-92a6-a837e656bcec"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 1681, "end_step": 1735, "id": "db9058ad-f9a7-428b-bc94-e3b0c5f014e6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1865, "id": "2b924305-5d8a-4f01-b1d8-d2e84e0be9be"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 1866, "end_step": 1920, "id": "c3acd839-6a1d-4903-98c8-18c96a942cdf"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2290, "id": "80569fb5-e002-4ed1-ba68-7a01c2cc3ed5"}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}, {"label": "home", "start_step": 2330, "end_step": 2360, "id": "XM3kHk60K8e2xP04PJOQ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}], "episode_index": 10}
+{"source_uid": "6e79b6e46fa22544", "num_frames": 2160, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "1505641c-39da-4db3-9b6e-50d68070a4e8"}, {"label": "valid", "start_step": 0, "end_step": 2131, "id": "ctjQhpHI1ex6qPIvJXU7M"}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "ad5c976a-b205-4175-8a5b-58c99b754fb6"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 410, "id": "f0ade8a3-954d-4abd-8fc5-da3cae36cef1"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "goal", "start_step": 411, "end_step": 575, "id": "3df57f8b-1e80-4375-bb3d-2b69cac3c200"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "goal", "start_step": 576, "end_step": 650, "id": "67908d50-0f5e-48bb-8b75-12bc8a527efd"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "goal", "start_step": 651, "end_step": 775, "id": "97a16225-8daa-4e5c-bf90-7d351368f88c"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "goal", "start_step": 776, "end_step": 840, "id": "ee38a8d2-ec2c-4028-a8cb-220681020707"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 841, "end_step": 1005, "id": "55936fdf-f789-4f71-9699-42f526b1db22"}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1070, "id": "4cf4139d-f04d-4b41-ad7c-a740df2007ee"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1195, "id": "700e4683-213f-41eb-9ea6-dc17e0945faa"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1196, "end_step": 1280, "id": "7f33cf3d-c762-4c8b-9338-05e093cf89a4"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "goal", "start_step": 1281, "end_step": 1410, "id": "1b7fb995-8a99-4f0f-bb0e-63cab472a142"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "goal", "start_step": 1411, "end_step": 1495, "id": "93685480-cf1e-4ceb-9ee2-a96506490921"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1730, "id": "beaceed0-cba2-4734-a09d-af8b04802735"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "goal", "start_step": 1731, "end_step": 1815, "id": "a8bc398e-acfa-4782-b058-5b3aa2620a9b"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "goal", "start_step": 1816, "end_step": 1920, "id": "a974854e-6f27-482d-802e-703fa7d577a1"}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "goal", "start_step": 1921, "end_step": 1980, "id": "0ecc264e-0d0f-4834-a765-cc841707eaf2"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1981, "end_step": 2090, "id": "a77f5110-a61d-4d9d-b376-bf525f0d88e2"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}, {"label": "home", "start_step": 2132, "end_step": 2159, "id": "SnByDeBF_npKvgXWIw1oL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}], "episode_index": 11}
+{"source_uid": "701e91aedf2427d0", "num_frames": 2774, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "674eda58-bcb0-4fa8-9713-46391e8c929c"}, {"label": "valid", "start_step": 0, "end_step": 2743, "id": "PqrQ_9HrAHqKAgdwh-SIr"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 111, "end_step": 240, "id": "81928e97-1a64-40d2-b0eb-278ba6333f42"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "goal", "start_step": 241, "end_step": 305, "id": "e7556ab1-17bd-497d-8da6-7c6f378a53a3"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "goal", "start_step": 306, "end_step": 445, "id": "58e14c22-f948-452e-9814-238a7e3fa84e"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 945, "id": "8114bae9-bae6-4d89-9ac1-871b6e5acee0"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "goal", "start_step": 946, "end_step": 1170, "id": "ac9f113c-421f-4577-8bcc-3c9ff44517f5"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 1171, "end_step": 1265, "id": "941140af-4ebf-46a6-94b1-295110aeb250"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "goal", "start_step": 1266, "end_step": 1380, "id": "61efaf2e-c933-4f91-a1be-8ca5a9527593"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 1381, "end_step": 1440, "id": "c6166581-0278-48a3-8d47-1afefedc373d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "goal", "start_step": 1441, "end_step": 1555, "id": "84dd711a-dccb-4c26-9735-18c7fac3e858"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1556, "end_step": 1625, "id": "f0e3a35a-de8d-4695-9b7f-1eb22ab3f994"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1626, "end_step": 1735, "id": "9251c709-4cbc-4c7b-8683-0fc17a687104"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1736, "end_step": 1810, "id": "30f59c8b-92a5-416c-8ae7-015391a5d432"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 1811, "end_step": 1920, "id": "f10cfb62-5035-48a8-99af-4aaf2f8f140d"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "goal", "start_step": 1921, "end_step": 2310, "id": "da9d1c23-d50e-4a49-af97-cdf10dee6911"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "goal", "start_step": 2311, "end_step": 2435, "id": "f417372f-3199-45ce-97bb-4b46537a2177"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "goal", "start_step": 2436, "end_step": 2600, "id": "f28beb22-5c9d-4868-ac51-c6a81d75955d"}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "goal", "start_step": 2601, "end_step": 2700, "id": "a84767cf-95e7-4fcc-a3ed-4f78635f569b"}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}, {"label": "home", "start_step": 2744, "end_step": 2773, "id": "6d-8zDj-dcZIS1BdrSRx0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}], "episode_index": 12}
+{"source_uid": "5d8411ae17da0a34", "num_frames": 2130, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "8dff8850-4897-4496-ac03-30ab00ad04a9"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "_VrCGpU0ioZKjusFKl5gk"}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "goal", "start_step": 161, "end_step": 295, "id": "a43f2388-a02b-4610-9da0-1d628e41d68c"}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 296, "end_step": 355, "id": "340a962e-668f-41c6-8539-f8fb19775bcb"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 356, "end_step": 450, "id": "411a18f3-fa44-44cb-a0a5-1c8fff62b8ee"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 451, "end_step": 510, "id": "ffd2772e-88a2-4970-aa77-e3fa92055593"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 511, "end_step": 675, "id": "97a8a214-f2d6-48ac-a433-ff138b556f89"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 676, "end_step": 735, "id": "886ed51b-46c9-44d4-af4a-7bdc3ee67dcd"}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 736, "end_step": 1020, "id": "44c86290-dfe3-4d80-8f03-21fc1554d161"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1120, "id": "ce34ac8c-2db8-45e3-80fe-9a638d12fba4"}, {"label": "goal", "start_step": 1121, "end_step": 1260, "id": "d73a2821-8111-474e-b989-9935b01400f9"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "goal", "start_step": 1261, "end_step": 1320, "id": "d3f10b0a-b41c-4ad5-be53-003ddadb25b6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1430, "id": "1d03f486-3974-4557-b291-914f1b209fe0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1431, "end_step": 1495, "id": "1864a0b1-e85b-4ed1-99d2-6e7c5505fbe4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 1496, "end_step": 1605, "id": "309ca8ce-eef2-4bef-8b60-72a48cff93d4"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1675, "id": "ff24669c-1090-41d1-8819-467fb7986d35"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1676, "end_step": 1860, "id": "a6ed0475-3061-4797-ae7e-f673f9d3468d"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1861, "end_step": 1925, "id": "3da0d9bd-1db3-4f2d-af13-cbcf8d956403"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "goal", "start_step": 1926, "end_step": 2070, "id": "d3588494-531c-4e52-a5c9-c706c79577fc"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}, {"label": "home", "start_step": 2099, "end_step": 2129, "id": "XKQvJDWBCNE91sZngwubg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}], "episode_index": 13}
+{"source_uid": "a2c86d6e0f19ecc2", "num_frames": 2194, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "53f8faf5-f4aa-4d32-a600-3b30a81dfa4f"}, {"label": "valid", "start_step": 0, "end_step": 2164, "id": "mgeEeccOHJSvIknus2b-8"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "goal", "start_step": 146, "end_step": 270, "id": "2062f824-0a56-4c06-9b6d-47dbf0eebba8"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 271, "end_step": 355, "id": "03679350-74e7-4c46-a961-d3bd55d76ca9"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "goal", "start_step": 356, "end_step": 520, "id": "d15f606a-bfbf-4672-850a-4bf8a7583975"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 521, "end_step": 605, "id": "8f7049d1-2772-4d2e-84b6-23ebd47db2e0"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 606, "end_step": 725, "id": "6c901ec6-41f9-4691-937f-57cf397856ce"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "goal", "start_step": 726, "end_step": 790, "id": "7f70b106-bd0e-4b20-ab2e-bc56f99fc930"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 791, "end_step": 900, "id": "64dca41a-ef7b-4879-8ea3-7499ad158df8"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "70cbf4bc-8b49-4200-b32f-297751fd9ce7"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 971, "end_step": 1170, "id": "7dabe4ad-8e6f-44eb-9ac7-71934303c371"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1171, "end_step": 1180, "id": "fef955bc-012c-4775-ac10-4b049f5115e6"}, {"label": "goal", "start_step": 1181, "end_step": 1330, "id": "fa5f2184-1578-46b0-b70e-e8316592c2ae"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "goal", "start_step": 1331, "end_step": 1390, "id": "2e96e381-9f20-4967-a574-d80ea68c0a68"}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1615, "id": "9424cc03-ec50-484c-922a-34f15a9d6bac"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "goal", "start_step": 1616, "end_step": 1780, "id": "f1582df7-8f99-4839-8b9c-48c7e599caf1"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "goal", "start_step": 1781, "end_step": 1925, "id": "cd8ff266-495e-486e-b816-e7a15ac74132"}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "6e54c5d6-01b9-450c-88fa-93e2112f7097"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2135, "id": "bd68068e-8e24-49e5-b5fc-beb2ad8ac4ea"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}, {"label": "home", "start_step": 2165, "end_step": 2193, "id": "44kZujFMY-kPrE1yiOO9w"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}], "episode_index": 14}
+{"source_uid": "472e2ea0f4ee4d23", "num_frames": 3038, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "9846c0d6-6379-4a5f-8000-8a303f6af7ae"}, {"label": "valid", "start_step": 0, "end_step": 3009, "id": "G21jYmAxIjZIZu9RpFYy4"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 146, "end_step": 250, "id": "288826c7-c1b7-4f91-a9f4-6d028558903d"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 251, "end_step": 310, "id": "638b61ec-0054-4635-97a8-dbd4f9c84f78"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 311, "end_step": 435, "id": "3699e181-f085-4d91-b012-c04d2371f15a"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 500, "id": "fdae4e60-1103-4df7-a01f-8bef8d99974f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "goal", "start_step": 501, "end_step": 700, "id": "8bd4244b-b22e-42e2-8df3-c0fa4545d57e"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "72e87c45-70bd-4fb1-9781-684ac3cab81a"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 766, "end_step": 945, "id": "7b7d6ef5-6627-42e1-b006-b21dbecf7b90"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "goal", "start_step": 946, "end_step": 1025, "id": "08791dcf-a726-4bd7-9615-a243094cc2e5"}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1026, "end_step": 1135, "id": "ad227624-81f7-48f0-99b4-d9e984b6c7fb"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1136, "end_step": 1770, "id": "2f3359d9-1afa-463c-95ed-89ba2a15f0b4"}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1771, "end_step": 1915, "id": "816997b7-7e37-437e-8416-5fa0939660d5"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 1916, "end_step": 2125, "id": "864c6c03-b0cb-4105-a6e6-32c1ac2eb9df"}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "goal", "start_step": 2126, "end_step": 2270, "id": "dde1ca12-9ca8-4158-9f17-91263e51956c"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "goal", "start_step": 2271, "end_step": 2615, "id": "8c531ffb-4681-49f8-89ba-34e4faa6ebc3"}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2616, "end_step": 2750, "id": "a9016045-c186-47d4-a9f7-55c94673b739"}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "goal", "start_step": 2751, "end_step": 2830, "id": "d115458a-3d2d-4322-b715-b6fae8931534"}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2831, "end_step": 2980, "id": "e45043a7-4d4d-48c7-bdda-1e936e3549e1"}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}, {"label": "home", "start_step": 3010, "end_step": 3037, "id": "BSqjpFDFzASebG7XqkVGU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}], "episode_index": 15}
+{"source_uid": "dda6f7dc02412b2c", "num_frames": 2118, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "226a95b0-96cf-4d9e-925a-1b992c840d67"}, {"label": "valid", "start_step": 0, "end_step": 2090, "id": "FD-NnB_4IMt90yFpkXPNJ"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 116, "end_step": 240, "id": "ee38ebcd-3e07-48e2-b26a-f54e222ca256"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 241, "end_step": 300, "id": "b8c08569-532c-4870-850c-4c0bd422d0b3"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 475, "id": "2af051a3-861b-47b4-8b10-97c5e948f8ea"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 476, "end_step": 530, "id": "9a841d99-e000-4ea7-8a1c-b656c7405300"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "goal", "start_step": 531, "end_step": 645, "id": "9587f183-ac13-4254-96de-72e28bcdb6e3"}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "goal", "start_step": 646, "end_step": 725, "id": "40b7e4d9-06c6-444c-9972-ab7a7fa5f9bc"}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 726, "end_step": 960, "id": "88f500e5-b9e5-42ff-8f6e-ca7e9f53a94a"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "goal", "start_step": 961, "end_step": 1040, "id": "346c0982-5fa4-4757-b54f-aef9bd27e262"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "goal", "start_step": 1041, "end_step": 1175, "id": "f5ac83e7-8fa0-404c-ac9d-1414873dd672"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "goal", "start_step": 1176, "end_step": 1240, "id": "e1681dae-e811-4d97-9477-104414e12fc6"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1241, "end_step": 1365, "id": "c73d30d6-d07d-45fa-a5e6-0319f630b2ba"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1366, "end_step": 1430, "id": "a6017312-b121-43d0-813b-075dc25c349b"}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1431, "end_step": 1535, "id": "cada37d4-ceb9-4abc-922a-2ab5c5c88fe5"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "goal", "start_step": 1536, "end_step": 1605, "id": "59d85d97-8909-4b21-bc6b-e475a781207d"}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1705, "id": "a3098263-03e6-4e90-aa02-4ac25532728d"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "goal", "start_step": 1706, "end_step": 1775, "id": "4226113c-8638-43b5-b822-753e829f654c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "goal", "start_step": 1776, "end_step": 2075, "id": "8b00dbb4-1b86-46b7-8bc4-4131c8b3aa10"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}, {"label": "home", "start_step": 2091, "end_step": 2117, "id": "EPshbp8GMKaq8CaJRHTw0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}], "episode_index": 16}
+{"source_uid": "9d1abebea8aa7557", "num_frames": 2271, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "2f20d334-825d-4239-8a4e-fa10a0c06288"}, {"label": "valid", "start_step": 0, "end_step": 2242, "id": "iKwM6-u0KbYEDdVGMkAcE"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 196, "end_step": 510, "id": "e2bf4b47-42dd-4539-8b61-97fa0ec7d41d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 511, "end_step": 570, "id": "d22e6e9e-236d-4657-9ac7-a2c09e472600"}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 571, "end_step": 675, "id": "d8d6439b-6159-404b-a078-56c32c34f551"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "goal", "start_step": 676, "end_step": 745, "id": "426bf268-ba25-4c1c-8945-6c75ef2da9f7"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "goal", "start_step": 746, "end_step": 905, "id": "9b2619f0-cb50-4ffc-8d42-98bfc337ca1a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "goal", "start_step": 906, "end_step": 985, "id": "b170808e-143c-42ce-9df4-004b2b3f762a"}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 986, "end_step": 1095, "id": "1e8bc211-2f1d-4959-97bf-523b1008def9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1096, "end_step": 1165, "id": "9be2d4db-5472-4f3e-a65b-39c7caf07bd5"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "goal", "start_step": 1166, "end_step": 1315, "id": "7a02bbcd-47be-40af-a79f-b83c46af5a44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1390, "id": "70094114-3158-4e79-a59d-78dafe86c7e0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1525, "id": "39ab30c2-f001-403e-8e92-30b164e8805e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "goal", "start_step": 1526, "end_step": 1590, "id": "b1bd4d0b-b3c6-4c95-81ba-fbd3d8df8019"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "goal", "start_step": 1591, "end_step": 1770, "id": "15046fe0-9310-4f31-b064-5d5fd2b62a3c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "goal", "start_step": 1771, "end_step": 1855, "id": "78bf552c-d8f4-4524-8f8c-50520381d282"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 1856, "end_step": 2000, "id": "fd0ee29c-2a02-400e-a697-ae42b7462ec1"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "goal", "start_step": 2001, "end_step": 2070, "id": "1a022112-4215-4629-a005-786a2dfb3d70"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "goal", "start_step": 2071, "end_step": 2200, "id": "5e0f3585-7dd9-49d8-aaf4-2e97a59bf484"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}, {"label": "home", "start_step": 2243, "end_step": 2270, "id": "iXBozPSd4hO3fLich8YVW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}], "episode_index": 17}
+{"source_uid": "9d63e2fbbe0e058d", "num_frames": 2153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "ca78978d-1336-449f-bbe2-4051b43a59f5"}, {"label": "valid", "start_step": 0, "end_step": 2123, "id": "7eInSgVvwwU6DdecX_dgF"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "goal", "start_step": 141, "end_step": 350, "id": "85c1c072-07b9-4714-99c2-5ff162627011"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "4fe7619e-794c-4d25-b7bc-0f4a80fbca61"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "goal", "start_step": 421, "end_step": 610, "id": "95a047bb-2064-414c-ad90-01f38a1425c2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 611, "end_step": 710, "id": "d1bbb38f-ed03-4220-9b91-d01b64bc912c"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 711, "end_step": 830, "id": "01d957cf-a3c0-4042-86da-d1e040132678"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 831, "end_step": 905, "id": "9b043b86-57e3-4820-9bce-16e31a55a39a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "goal", "start_step": 906, "end_step": 1030, "id": "141f8c5c-8b14-4d0e-9d15-225a7937eb0f"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "goal", "start_step": 1031, "end_step": 1105, "id": "1dabefe1-0e42-432a-a557-e0e28723099c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1106, "end_step": 1210, "id": "56b5fe8b-a25c-4d65-b98c-3dc236cd90ff"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "goal", "start_step": 1211, "end_step": 1295, "id": "6bd86c74-77f9-4540-b3ef-52fcd666958a"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "goal", "start_step": 1296, "end_step": 1455, "id": "1d37d26d-cd24-4dbb-af07-2678fff30630"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "goal", "start_step": 1456, "end_step": 1530, "id": "4e315a0d-e19e-4e0c-a143-dc4fefaf4c3c"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1531, "end_step": 1640, "id": "ea3f6d0e-ea6a-4586-8f95-e8609a7a0622"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1641, "end_step": 1705, "id": "e3f48584-0f14-41d1-b268-48504a478dc3"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 1706, "end_step": 1850, "id": "93dc1b2d-b91c-4ca5-981c-a3716e440ca3"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "goal", "start_step": 1851, "end_step": 1920, "id": "7dcb4c9f-91ce-4ca1-b1f4-f7792c6a3a67"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "goal", "start_step": 1921, "end_step": 2080, "id": "a5e722fb-ed36-4427-925f-e98054311dcb"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}, {"label": "home", "start_step": 2124, "end_step": 2152, "id": "nBgFD1aGiCNDqLJf73umO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}], "episode_index": 18}
+{"source_uid": "b71664c48074e02a", "num_frames": 1977, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "159c5ff4-0330-4e41-8072-e0d0169efc1c"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QX5Y22cL1J6YVsyANbgzS"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 290, "id": "7cd92623-e3c6-4d77-8ee0-3bb1247fc6f2"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "goal", "start_step": 291, "end_step": 360, "id": "f9ff4781-c02b-4fa7-96f2-a0120b8ce2d2"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "goal", "start_step": 361, "end_step": 460, "id": "cf9d9f73-d23a-4901-a620-e4bc2db999e3"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 540, "id": "b04969eb-58a2-4f93-b361-291fada6a435"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "goal", "start_step": 541, "end_step": 650, "id": "c805d3a1-736f-4976-b587-d286d11d96be"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 651, "end_step": 785, "id": "582d8f28-5d01-44e5-ab83-0522f9163895"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 786, "end_step": 900, "id": "a80c6131-e97c-4ca7-bbe4-f2a555bcd719"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 980, "id": "6c3dfb92-b100-4cf4-a038-1fd8f9b5f9d5"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 981, "end_step": 1095, "id": "b6940ff2-4d7c-49f5-a0ea-8770e5d6c78c"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1096, "end_step": 1160, "id": "2ce917d0-1070-4115-a602-8c5d489ec6fe"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1161, "end_step": 1295, "id": "eafb8566-da26-4ea3-9d06-d9a293dddf1d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1296, "end_step": 1385, "id": "8e7cc425-47c0-4d58-bf28-16382bbc2483"}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "goal", "start_step": 1386, "end_step": 1515, "id": "1f99ff46-52a5-4967-801a-ddd8171e93af"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1516, "end_step": 1590, "id": "6154053e-1b0a-419d-8f88-6f8173ae1ed7"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1591, "end_step": 1705, "id": "b8d4348d-858f-454d-a081-838db25b27ed"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1706, "end_step": 1795, "id": "9cc3b490-7d89-4079-a49e-668ab303285d"}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1796, "end_step": 1920, "id": "04402a0c-62de-49da-abe4-46cc7bd1d74b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}, {"label": "home", "start_step": 1944, "end_step": 1976, "id": "537SMeLkJbn5Xb4w4wSSx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}], "episode_index": 19}
+{"source_uid": "21ab6eee1b7d9a2c", "num_frames": 1958, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "74ef4f1c-c97e-4770-a958-1b589a9f6f45"}, {"label": "valid", "start_step": 0, "end_step": 1925, "id": "0HMcxnDvAtRyDRQNuqs_v"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 111, "end_step": 235, "id": "66788235-663e-4c0b-a57f-343b8a49f24f"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "goal", "start_step": 236, "end_step": 280, "id": "bfa77149-6d97-4e2a-a437-7d5534895d60"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 281, "end_step": 490, "id": "22ea5f5c-0357-4794-a84d-69d555a08396"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "goal", "start_step": 491, "end_step": 550, "id": "8d078fe0-f631-4273-abe9-cd7b54ed797a"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 551, "end_step": 700, "id": "d58209c7-3625-449c-b98b-d1467a475797"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "70e7a26b-09c3-48f7-a9cf-45128db4e350"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "goal", "start_step": 766, "end_step": 875, "id": "4e118cd7-2dc7-41d0-b793-d9218fd78915"}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "goal", "start_step": 876, "end_step": 940, "id": "9156ffb9-ea99-4bb6-b69a-5d591378d160"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 941, "end_step": 1040, "id": "5250d874-3f88-4272-836e-1b9c2b950f96"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "goal", "start_step": 1041, "end_step": 1115, "id": "2c70cb4f-cb2e-46d4-ba69-8a85f36434a7"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "goal", "start_step": 1116, "end_step": 1280, "id": "895435b7-ffa5-4f8a-9285-b93d8177791f"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "goal", "start_step": 1281, "end_step": 1350, "id": "5428274e-6acc-4f39-b50c-3acd65c283ea"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1351, "end_step": 1500, "id": "08bb8cc1-28ab-44ba-a1ee-c52cf6efae86"}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1501, "end_step": 1560, "id": "c8263d6d-59cd-424f-a824-37a244c6aa18"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1720, "id": "9212ef52-5b1a-4f68-92fa-a8c3656d4d5f"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "goal", "start_step": 1721, "end_step": 1785, "id": "4ccfc880-d00a-45cd-b230-0676aa4f2343"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1786, "end_step": 1885, "id": "8e57f85c-b8be-48be-b7f4-f0265d0d3f86"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}, {"label": "home", "start_step": 1926, "end_step": 1957, "id": "zU0yAK6jhkrMPWWaYUc3A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}], "episode_index": 20}
+{"source_uid": "6e44ae99eadf8304", "num_frames": 1972, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "bc4c8998-8b9a-46a2-8206-eefaeb8ee8fd"}, {"label": "valid", "start_step": 0, "end_step": 1938, "id": "KoUKPqTDdhyMkL33Ub11l"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "1a91cca8-0301-4dcc-80ca-5a2452502a03"}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "goal", "start_step": 271, "end_step": 345, "id": "c93e49bb-9c88-4384-bad0-854bb4da5ab7"}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "goal", "start_step": 346, "end_step": 485, "id": "baa1537b-83ce-4349-9c52-b74d44d21a10"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "goal", "start_step": 486, "end_step": 560, "id": "75b1b0a2-5917-452e-9b8f-7b2ba38621d1"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "goal", "start_step": 561, "end_step": 805, "id": "c5c9f9d2-a15f-47ae-a7de-2b44b69d52a7"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 806, "end_step": 870, "id": "af57487d-e8e6-4b7a-bd82-417c86e9206a"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 871, "end_step": 1005, "id": "96e0325a-7b93-4abf-ade0-7dd1e1c96954"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "goal", "start_step": 1006, "end_step": 1075, "id": "9b3ac2e7-96a1-43b7-a772-1a5e2c120b1a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "goal", "start_step": 1076, "end_step": 1210, "id": "2860a3f5-fb0e-4959-b93c-67905770b2f4"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "goal", "start_step": 1211, "end_step": 1270, "id": "d8bbb7e6-eaf2-4f09-af8c-69d4b672b66e"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1410, "id": "39a23c86-cb29-4876-8905-3ffca57a46cd"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1411, "end_step": 1470, "id": "a1676222-7802-4c84-ba91-c13bf56a15e3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1471, "end_step": 1570, "id": "07cb9649-6d99-47f5-a865-c048d6278d5b"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "goal", "start_step": 1571, "end_step": 1625, "id": "bad3d5a2-30a8-4b2f-922a-e5030646e215"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1626, "end_step": 1755, "id": "e469c81d-f90b-40bc-96c7-0545f844811b"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1756, "end_step": 1800, "id": "c5a71f77-c469-43ad-9cf8-493953ff5373"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "goal", "start_step": 1801, "end_step": 1910, "id": "ed6bea63-8b73-4a3d-8bd5-b862233b14be"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 1939, "end_step": 1971, "id": "2kk1Om36grzlbSu7ZiycC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}], "episode_index": 21}
+{"source_uid": "db9819f51e76e3ee", "num_frames": 2021, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "12e33d7c-877a-4df0-8afe-3580df0111d7"}, {"label": "valid", "start_step": 0, "end_step": 1990, "id": "x4Ll6eSFFrWxiTQSXXSp_"}, {"label": "subtasks", "start_step": 45, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 275, "id": "26de76ad-6945-4e3a-b9dc-e5a640597725"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}, {"label": "goal", "start_step": 276, "end_step": 335, "id": "baefa307-7a07-412e-9d6f-77ed95bbdb4f"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 336, "end_step": 460, "id": "5fc5b6ba-3303-45d9-b5c3-299d51405dd0"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position above the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 545, "id": "1f607d74-eb1c-4091-b1ff-77fb5e03b58f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 546, "end_step": 650, "id": "c479d6ef-da9f-4697-a41e-68c86d867a18"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "goal", "start_step": 651, "end_step": 720, "id": "dd5109f9-2ac1-415a-833e-85294edc24e5"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 721, "end_step": 840, "id": "6432a415-a222-44ac-ae51-c0fe4718d7f4"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}, {"label": "goal", "start_step": 841, "end_step": 920, "id": "8961b904-a64d-42cc-86ae-6089a3a955e7"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}, {"label": "goal", "start_step": 921, "end_step": 1040, "id": "9f40579a-cdbb-4ba6-94cd-831520f8f49d"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1041, "end_step": 1115, "id": "39426554-a359-48b3-9599-acb3205eb187"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1116, "end_step": 1230, "id": "900a948d-4cff-4d36-b0c5-717b86527745"}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "528c00a8-baf4-49a8-80da-55ef43fb77a2"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1301, "end_step": 1415, "id": "83fb8b70-a124-4821-a9a1-94dc2930d811"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "goal", "start_step": 1416, "end_step": 1540, "id": "ef61ed00-eeee-482d-bd67-0b31cfdbe3bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1541, "end_step": 1655, "id": "2d985b60-225a-4ec7-b51d-ec3b6906778b"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1656, "end_step": 1710, "id": "6634bd6d-1bfa-4141-8ab4-28bac99b2e77"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1711, "end_step": 1960, "id": "f09a1b3c-485d-4899-a9a8-d96e37366e08"}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}, {"label": "home", "start_step": 1991, "end_step": 2020, "id": "unaIlcAA7QCh58fLyIy3M"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position above the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}], "episode_index": 22}
+{"source_uid": "5de54cbf398ccbeb", "num_frames": 1983, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "fba73d9d-e5f1-48a1-a1d0-e9985c3679c4"}, {"label": "valid", "start_step": 0, "end_step": 1952, "id": "4FVffk8e5aYC9AvVWcuWA"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "goal", "start_step": 151, "end_step": 260, "id": "3b54155e-65ac-4719-941f-634b3d07c61c"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "goal", "start_step": 261, "end_step": 350, "id": "23ea4bc4-c7d4-46ed-80ed-03a9e58c28c0"}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 510, "id": "e7344aba-bc42-4289-b63d-a01b21b6a660"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "goal", "start_step": 511, "end_step": 580, "id": "11a6ee35-0b80-4b7a-8de6-caaa7e806355"}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "goal", "start_step": 581, "end_step": 720, "id": "43aa58ad-4d77-4d20-8112-52e2c6a56dea"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "goal", "start_step": 721, "end_step": 795, "id": "8ff66ec0-2d62-4962-ba63-4ff640bff852"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "goal", "start_step": 796, "end_step": 940, "id": "093b862c-0edc-4b1e-a6b3-8f6ded1b808a"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "goal", "start_step": 941, "end_step": 1005, "id": "feea5b1b-dc82-4509-b2e7-c40dd047c34e"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 1006, "end_step": 1100, "id": "e5310bb0-785f-4a18-af64-b42f85d638c7"}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1101, "end_step": 1175, "id": "e5016638-e48d-4d77-a0e8-d1a57c9048a3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1176, "end_step": 1320, "id": "ec3d90d2-d3da-482e-b8b1-cc4e42cb72db"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "goal", "start_step": 1321, "end_step": 1395, "id": "60e8aea3-16dd-4f92-a17d-5a7bc292d6c4"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "goal", "start_step": 1396, "end_step": 1505, "id": "a643560f-b49c-4196-a64e-b5c692700532"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 1506, "end_step": 1570, "id": "3829fcc8-518e-4465-93a2-e31e42914214"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "8def124e-5645-457d-b971-303058e520f4"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1805, "id": "70bfd90b-e6ee-452b-a94a-639cbadbaded"}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1920, "id": "fe24ae26-d71f-4928-8a10-f247e0797c61"}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}, {"label": "home", "start_step": 1953, "end_step": 1982, "id": "FBbwRxm9tS49ES-YpEmJh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}], "episode_index": 23}
+{"source_uid": "f309141933affada", "num_frames": 2613, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "4e1a827c-1f9f-4863-8834-1081cdb201eb"}, {"label": "valid", "start_step": 0, "end_step": 2579, "id": "wBVrgn1im-JPXcUZDgAlq"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 220, "id": "898d9e51-c8dc-4f22-9754-1eff3c6eeb52"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "e651d317-fb72-4058-8737-5c92a7cd40f4"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "6e4b08c6-7dc2-49e4-9db2-07605036639a"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 386, "end_step": 470, "id": "cbfa5e5a-4d15-42e7-a4ef-6fb6366c6ccf"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 471, "end_step": 575, "id": "ed9bbfba-68fe-4a6f-b815-27b989ad0816"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "goal", "start_step": 576, "end_step": 635, "id": "c6a3c8b2-0bed-4f8b-9faa-951c1d1c64b6"}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 636, "end_step": 820, "id": "6bf8c6a3-fd02-4078-b42b-f000f763c791"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 821, "end_step": 940, "id": "31037bd2-4875-466b-ba01-26984329da36"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 941, "end_step": 1035, "id": "c89839e9-74c1-4817-9697-a3d114d920ec"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "goal", "start_step": 1036, "end_step": 1180, "id": "1ddc96c9-15bd-4d0c-9694-985fd66522f3"}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "goal", "start_step": 1181, "end_step": 1425, "id": "bc539d48-31b8-4c67-a27c-2198ba3ab68b"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1470, "id": "a1d37dd5-008f-44b8-9481-52351cd2925a"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "goal", "start_step": 1471, "end_step": 1600, "id": "f2078fac-ec1c-4cc2-89bf-14ea67bf7a05"}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1601, "end_step": 1660, "id": "9010775c-9606-49a6-8f6f-2f2cb4157acf"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1661, "end_step": 1775, "id": "5edbfc7e-535d-4d97-ae7d-3abc23506bd8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1776, "end_step": 1845, "id": "24a5aeb0-ebbe-482d-b294-f67f0f748267"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "goal", "start_step": 1846, "end_step": 2545, "id": "2366c883-464c-4190-8d47-584cc2ec9e9c"}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}, {"label": "home", "start_step": 2580, "end_step": 2612, "id": "rGjyJNaZ2ah1-LK3IHp4I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}], "episode_index": 24}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65b6ded5f2d76f52a2a7afcf502d50ee919b9b3d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,25 @@
+{"source_uid": "0ba0cee3ca8f88d4", "num_frames": 2979, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward from the right side of the black table toward the central block rack, with fingers slightly open and wrist rotating slightly."}, {"label": "goal", "start_step": 0, "end_step": 237, "id": "ef7aa90e-3af7-45d9-8e64-5550662f6144"}, {"label": "valid", "start_step": 0, "end_step": 2950, "id": "3AI7jcuky2pIK3Z2JLZpF"}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the central rack, with minor adjustments of fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green block upward to separate it from the support peg on the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the green block moving downward and leftward to the target position on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the green block downward onto the black table until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 238, "end_step": 437, "id": "8653d939-bb91-4c17-9954-640019d99d81"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to secure it in place, then releases the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white hexagonal block on the same peg and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward along the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring-shaped part onto the left purple post and releases the part."}, {"label": "goal", "start_step": 438, "end_step": 532, "id": "2954c6b0-a4c5-45a3-9f84-6462ac5a0f3c"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 533, "end_step": 717, "id": "6fe03252-f6a4-47d5-a665-b3d234b5c893"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to above a purple peg on the pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning it and lowering it down the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the left purple peg and releases the piece."}, {"label": "goal", "start_step": 718, "end_step": 782, "id": "60826bff-ad5c-4b1f-93ee-e1f3a3770db2"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table surface."}, {"label": "goal", "start_step": 783, "end_step": 962, "id": "4a07e28e-ccd2-431f-b315-64ed5492b008"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the front-left purple peg and lowers the piece down the peg to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 963, "end_step": 1042, "id": "5afaa51d-6cd6-46bb-bca3-5bf5d7f57b1c"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow cylindrical part onto the purple peg of the wooden pegboard and releases its grip on the part."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the table in front of the pegboard and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table in front of the wooden peg board, with fingers closing around the part."}, {"label": "goal", "start_step": 1043, "end_step": 1302, "id": "1c935d1a-c7e8-490e-96d1-1a11a2bd8d64"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and moves it upward and toward the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the middle purple peg, fits it onto the peg, and makes minor vertical adjustments to the part's position on the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the bottom of the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 1303, "end_step": 1377, "id": "81fe4a70-ef9b-4a99-979f-eb1939dbc9d2"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1378, "end_step": 1637, "id": "9ebf0385-7021-4e4e-b14d-fd63a270277e"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 1638, "end_step": 1737, "id": "e792f4db-8813-48ad-98fa-58a7ea3a0dbe"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1738, "end_step": 1892, "id": "33de253d-65e0-4cd4-a38f-7f30067ed34d"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1778, "end_step": 1881, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}, {"label": "goal", "start_step": 1893, "end_step": 2167, "id": "ffcdec9c-83b7-43d1-8ec7-0cbddc2b9402"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 2168, "end_step": 2387, "id": "d03147d4-e251-4158-a665-79cf18dc7de4"}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "goal", "start_step": 2388, "end_step": 2492, "id": "fcf690a2-4093-46a1-b8b7-33898a2ad3e4"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2493, "end_step": 2662, "id": "5b2493f5-6143-47a2-9743-0f829a107148"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "goal", "start_step": 2663, "end_step": 2737, "id": "e120a494-c491-4726-be6c-fbc7656c58a4"}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "goal", "start_step": 2738, "end_step": 2907, "id": "b919859c-1f6f-49d4-ad18-e08fa66c63e3"}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 2951, "end_step": 2978, "id": "imLQOLR2vKP7Z77KbjKX8"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward from the right side of the black table toward the central block rack, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the central rack, with minor adjustments of fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green block upward to separate it from the support peg on the rack."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand carries the green block moving downward and leftward to the target position on the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the green block downward onto the black table until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it to above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden base, aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to secure it in place, then releases the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches upward to the white hexagonal block on the same peg and grasps it with fingers closing."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward along the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white ring-shaped part onto the left purple post and releases the part."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to above a purple peg on the pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning it and lowering it down the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the left purple peg and releases the piece."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal piece with the front-left purple peg and lowers the piece down the peg to complete assembly."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal piece, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow cylindrical part onto the purple peg of the wooden pegboard and releases its grip on the part."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal part on the table in front of the pegboard and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table in front of the wooden peg board, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and moves it upward and toward the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the middle purple peg, fits it onto the peg, and makes minor vertical adjustments to the part's position on the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white hollow hexagonal block onto the bottom of the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green square block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green square block on the peg without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1778, "end_step": 1881, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the target peg on the wooden pegboard and inserts it downward onto the peg until the block is seated."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and slightly moves upward away from the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, fingers closing and adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reorient: Right hand rotates the upper white hexagonal block on the table, flipping it from hole-facing-up to side-facing-up orientation with slight downward movement."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: push: Right hand pushes the upper white hexagonal block sliding downward along the table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp_reorient: Right hand grasps the upper white hexagonal block and flips it back to hole-facing-up orientation on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal piece upward and leftward from the right table area to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece with the purple rod on the wooden base, moving downward to fit the rod into the central hole of the piece."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release_retreat: Right hand releases the white hollow hexagonal piece on the purple rod by opening its fingers, and moves slightly upward away from the piece."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg of the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table with fingers opening."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: idle: Right hand remains empty beside the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white cubic block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2654, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical object with a purple rod on the front-right of the wooden rack, fingers gradually open."}, {"label": "subtasks", "start_step": 2670, "end_step": 2721, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves down-right towards the green cubic object on the dark table surface."}, {"label": "subtasks", "start_step": 2722, "end_step": 2759, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic object on the dark table surface, fingers close around the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube from the table and transports it toward the bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2879, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hollow cube with the purple-topped bottle and fits it down onto the bottle to form an assembly connection."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hollow cube on the purple-topped bottle, with fingers opening and separating from the cube."}], "episode_index": 0}
+{"source_uid": "38aeb8f17df4b0d6", "num_frames": 3003, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "803f0c8c-3ca7-4044-859e-de94e1e86532"}, {"label": "valid", "start_step": 0, "end_step": 2975, "id": "li0fzGBvTOLB8XxxjwQod"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 121, "end_step": 315, "id": "7227ce29-66b0-4f13-9c7e-df4c606baf3e"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 316, "end_step": 380, "id": "6e5c7ffa-3478-4ce0-a073-eecbf35a2203"}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "goal", "start_step": 381, "end_step": 535, "id": "5d9d80a1-212a-455e-9d62-2e2c85aeed9d"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 536, "end_step": 610, "id": "f7d08fd6-a907-4d90-9dd3-9b3821102d5a"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 611, "end_step": 1010, "id": "be528fc3-b94e-4745-a7ac-5c07bfc58f4d"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "goal", "start_step": 1011, "end_step": 1055, "id": "73c4b812-75b6-45b2-9745-7df07237c662"}, {"label": "goal", "start_step": 1056, "end_step": 1200, "id": "566a9581-29e2-43dc-8342-55c9c5cc3920"}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1201, "end_step": 1270, "id": "d53d81d1-a16e-43cc-b8df-af0c22d506ae"}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1400, "id": "8da1ada1-53bb-4c9e-b676-7d57e21b549f"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1401, "end_step": 1465, "id": "22eb341f-a76e-4e61-9dbb-e76cd01ae733"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1466, "end_step": 1825, "id": "b52c76be-85dd-4bfa-8eb0-6b3aaa8900b3"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "goal", "start_step": 1826, "end_step": 2365, "id": "478e5425-2676-4d03-87b4-41d910af4531"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "goal", "start_step": 2366, "end_step": 2495, "id": "5ec32319-c85e-42e6-9c35-9ff62c0912b2"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2496, "end_step": 2560, "id": "b58ebab4-86d2-43bc-92db-cd66fc77c9a9"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2561, "end_step": 2700, "id": "40af0d1b-da15-428a-a8f9-bf104afc381f"}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "goal", "start_step": 2701, "end_step": 2795, "id": "1cd8da7f-6b3b-4316-82fd-8e51f1267b94"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2796, "end_step": 2940, "id": "77b7105e-b967-4f84-a0f3-c52e42fec78a"}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}, {"label": "home", "start_step": 2976, "end_step": 3002, "id": "5eNXO_h1ybynXsO4bbF37"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_hand_posture: Right hand adjusts its posture with fingers opening and wrist rotating slightly at the right side of the table."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up off the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 210, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down along the purple peg until it is seated, then releases the block."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 345, "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: grasp: Right hand closes its fingers to grasp the white hexagonal block on the tabletop, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it toward the purple post on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base, adjusting its position to fit stably."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on top of another purple rod of the wooden rack, fingers closing around the block."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "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: place: Right hand places the white hexagonal block onto the adjacent purple rod on the wooden rack, lowering the block until it is supported by the rod."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after placing it onto the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table, with slight adjustments to form stable grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward to make it fully leave the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1500, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden block set."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stabilize the grasp on the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward to fit it tightly onto the purple rod."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden block set after pressing the block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, then releases the grip so the block falls onto the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack towards the lower table area with empty hand."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block, adjusting the grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the area near the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2309, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block on the table near the wooden rack, adjusting its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block for subsequent operation."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the dark table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod, moving it downward until it is seated on the base."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2572, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2610, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod and moves slightly away."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2811, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2947, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the target bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2948, "end_step": 2954, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}], "episode_index": 1}
+{"source_uid": "1599f40e13fad3c3", "num_frames": 2168, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "c7d04a2b-60c0-4611-9f8a-77eaffe1042d"}, {"label": "valid", "start_step": 0, "end_step": 2140, "id": "6URSlmtc9OQ_2228aU4uA"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 221, "end_step": 365, "id": "4d934f5a-a977-4e43-8ead-59a39ae5e9c7"}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "goal", "start_step": 366, "end_step": 430, "id": "83848e12-68c4-471c-b513-19d33aae2b2a"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 431, "end_step": 585, "id": "b171322a-b104-4c9f-acd1-bf1c839ab648"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "goal", "start_step": 586, "end_step": 655, "id": "6373217d-594f-4935-9e21-c2eda2ce3a32"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "goal", "start_step": 656, "end_step": 825, "id": "6300a3e2-0814-4cfe-a72e-79c49999391d"}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 895, "id": "7f2583b1-74c6-4b20-8292-b026a389e636"}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "goal", "start_step": 896, "end_step": 1050, "id": "78425eae-b303-4f3f-bef9-09d3ca907a3b"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1051, "end_step": 1100, "id": "244e7277-6aea-435b-a013-59ee04281014"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1101, "end_step": 1230, "id": "fd41635b-c79f-465c-8b8a-29eee41b5a42"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "050d1b8d-251e-4a37-bbe0-6268bbd05e31"}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "goal", "start_step": 1301, "end_step": 1470, "id": "fee9d0c3-fd1b-44bf-bae5-fd688244c7fe"}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "goal", "start_step": 1471, "end_step": 1530, "id": "3ee7aa47-7161-47d3-b907-fced444bc6df"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 1531, "end_step": 1655, "id": "96be7785-7a8b-47f8-b4df-9246bb161a22"}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1656, "end_step": 1725, "id": "638d3a50-36df-4e23-ad7b-c4274b3d2c69"}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "goal", "start_step": 1726, "end_step": 1920, "id": "37c21f73-5ec9-4dca-8cc8-94244b10b820"}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "goal", "start_step": 1921, "end_step": 1975, "id": "1a10ebec-030c-46a8-8d17-33477cfd1a58"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "goal", "start_step": 1976, "end_step": 2095, "id": "61b5e192-4097-4cc8-bd83-453f2039a55c"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}, {"label": "home", "start_step": 2141, "end_step": 2167, "id": "qoOZFNDQxxjYyh5NdbHKa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, maintaining a static open posture without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table near the wooden peg stand, with fingers open and not yet contacting the target block."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger contact positions and wrist posture to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily with no observable movement of the hand, fingers or block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface, moves it upward and horizontally to position it directly above a target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit it onto the peg, opens fingers to release contact with the assembled block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand holds the green hexagonal block, moves it downward along the purple peg on the wooden rack until the block is stably supported by the rack base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the gripped white hexagonal block vertically upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward to position it directly above the target purple peg on the rack."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, fitting the block onto the top end of the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand moves the white hexagonal block slowly downward along the purple peg until the block rests stably on the upper surface of the green block below on the same peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the grasped purple cylinder with a white top onto the empty purple peg on the wooden base, opening its fingers to release the cylinder onto the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward, empty, from the wooden peg base toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, making small finger position adjustments to form a stable, secure grip on the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward to completely raise it off the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward toward the front-middle empty purple peg on the wooden peg base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg in an assembled position."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without observable movement, keeping the nut stable in its assembled position on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp while the block still rests on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand carries the white hexagonal block upward and horizontally to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and moves the block downward to fit it securely onto the peg, completing the block assembly on the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly rack toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place: Right hand lowers the aligned green hexagonal block down the purple rod until it rests stably on the white cylindrical block positioned below."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the dark table surface near the block stand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position above the empty purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the white hexagonal block resting on the nearby dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and leftward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, fitting the rod into the block's hole."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block down the purple rod to rest stably on the underlying stacked block, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers gradually close around the nut with minor wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1778, "end_step": 1904, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position to fit the block onto the rod and lower it gradually."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting white block below on the rod, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: retreat: Right hand moves empty away from the block stand, retreating from the assembly position."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, gradually approaching the block without making contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, adjusting finger positions to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface, then moves it upward and leftward to the position directly above the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the held green block to align its central hole with the purple rod, then moves the block downward to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a static open posture without any observable movement. | Right hand: release: Right hand opens fingers to release the assembled green block, separating the hand from the block which remains stably fitted on the rod."}], "episode_index": 2}
+{"source_uid": "2aeb3d8a77a44dd0", "num_frames": 2025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "6b6e85d9-2970-4e46-b4d2-a11c8dfa0a6b"}, {"label": "valid", "start_step": 0, "end_step": 1992, "id": "Mvd2p787BZi_fR5Jge8G1"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "goal", "start_step": 121, "end_step": 280, "id": "b7d5e327-5e9f-4c6f-8b1b-8ef62fa80305"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 281, "end_step": 340, "id": "5e7e8c2a-7573-4f36-bb2f-91c691424818"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "goal", "start_step": 341, "end_step": 475, "id": "c67aa3f9-e67f-4747-a1fc-163e8732fe99"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 476, "end_step": 535, "id": "85a86158-eee0-47e2-8186-2071e9402fa7"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 536, "end_step": 770, "id": "4be62c98-ae44-4de8-ba0f-a846b8c1a5f0"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "goal", "start_step": 771, "end_step": 825, "id": "2b473f95-73c0-41f1-9ae0-e16b7239c075"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 960, "id": "15bc99c9-9263-4403-8424-66ef18915047"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "goal", "start_step": 961, "end_step": 1025, "id": "031cbf8e-cc6d-4d4d-9c27-ff1a0f37b1c4"}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "goal", "start_step": 1026, "end_step": 1145, "id": "65b4acf3-e0ac-4b80-877f-1a090d955268"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1146, "end_step": 1205, "id": "b90c5765-f1be-4692-936f-abac4fcc4e38"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "2744936f-d2bb-45de-b8f2-7c5fe1fdeaba"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1380, "id": "b74b4e3c-a60f-4e30-8b74-eadbd517269d"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1381, "end_step": 1550, "id": "c7caf495-7a7e-4a36-a358-4eb2cc5056e9"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "goal", "start_step": 1551, "end_step": 1615, "id": "beafef45-bbed-49d2-bd5f-83a973e0208a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "goal", "start_step": 1616, "end_step": 1745, "id": "f7aacb9f-9071-4154-b4e2-0e63b3072648"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "goal", "start_step": 1746, "end_step": 1815, "id": "9814f903-988d-4b19-ac50-f323dea94d98"}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "goal", "start_step": 1816, "end_step": 1950, "id": "00866fef-3840-495b-a4ce-a25697423c7c"}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}, {"label": "home", "start_step": 1993, "end_step": 2024, "id": "mfdF9UAGZ2sCs54Nxr8Ei"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_adjust: Left hand slightly flexes its fingers while remaining empty at the left side of the table. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand, empty, moves leftward and downward from the right side of the table to approach the green perforated block on the lower-left area of the tabletop."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green perforated block on the lower-left tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the lower-left tabletop without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it to the top of the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the wooden peg base with purple pegs, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden peg base with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base, aligning the piece and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the leftmost green-based peg of the wooden base, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal ring onto a purple peg of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to detach from the ring."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves upward toward the top white ring on the same purple peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the top white ring on the purple peg, with fingers closing around the ring to adjust its grip."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the top white ring slightly upward along the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the top white ring back down onto the ring stack on the purple peg until it is supported by the stack."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward from the area above the wooden board to the white hollow block on the upper table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the middle peg of the wooden board."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the middle peg of the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block on the peg with fingers opening."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upward away from the white hollow block on the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 981, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper green hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the upper green hexagonal block off the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the right purple rod of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table below the wooden board with empty hand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward toward the right purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1297, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1304, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right purple rod of the wooden board without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden set, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table to the right of the wooden set."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1544, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and slides it down the rod to assemble."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts grasp on and releases the white cylindrical piece at the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal piece onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds and releases the white hexagonal piece fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cubic block on the table with fingers closing and adjusting, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the right table surface and moves it above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1845, "end_step": 1964, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green square block onto the rightmost white post on the wooden base and releases its grip."}], "episode_index": 3}
+{"source_uid": "c42ddb79197afbe6", "num_frames": 2030, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "45b83f39-3b70-4d1d-b8dc-8c4c819c00c6"}, {"label": "valid", "start_step": 0, "end_step": 2001, "id": "Kv3yvgtom3ConWEskPFIm"}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 116, "end_step": 250, "id": "2c06ade9-a656-48c9-9cc1-260218b13152"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 251, "end_step": 320, "id": "4374f89c-7c13-475d-b5ca-b93f83ccecee"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 321, "end_step": 455, "id": "c7a176b7-94b2-4910-b1a3-324ab6ec5b26"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 456, "end_step": 530, "id": "9fa98738-6701-4e8d-9879-df96b1766d9a"}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 531, "end_step": 660, "id": "6d62d200-1643-4647-9222-e6618a6b2ecc"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 661, "end_step": 725, "id": "d29c542d-c3fe-4d16-b592-4117a21052fa"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 726, "end_step": 855, "id": "b06eda1b-449f-4667-863d-1b19ad515bb0"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "goal", "start_step": 856, "end_step": 915, "id": "9379f2ab-d69b-4e89-83ef-2cf53a008145"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "eb6e7f7e-8418-4e8b-a290-727f51b1b317"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "goal", "start_step": 1031, "end_step": 1270, "id": "c5717cd8-c8a3-46f2-9bc3-94400f03770f"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1271, "end_step": 1415, "id": "b85444ee-c022-4d4a-a6b3-46cd874d54a3"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1500, "id": "687ee248-d98f-4bc7-8f19-6a327512e1a4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1615, "id": "6278c80a-4190-43da-95a0-6fd6c458771c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "goal", "start_step": 1616, "end_step": 1675, "id": "b16a7cc9-f8ae-420d-81fb-9ae4ba99c315"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1676, "end_step": 1782, "id": "41915b1c-321d-4d45-8292-24c31b953a75"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "goal", "start_step": 1783, "end_step": 1842, "id": "f43ac6ec-1e9c-4b8e-a89d-758a8a22bb25"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1843, "end_step": 1967, "id": "87866c8f-87fa-4957-be4a-18f7b6005825"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}, {"label": "home", "start_step": 2002, "end_step": 2029, "id": "0mo1Dde824HQsYbY8F7lg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves empty from the right side of the table towards the green hexagonal block on the black tabletop, approaching the target without contact."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, pushing it down to the bottom of the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the workbench and transports it to the top of the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple rod of the wooden rack and adjusts its position to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple pole on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pole of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand stays empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block away from the black tabletop."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by fitting it down onto the peg."}, {"label": "subtasks", "start_step": 855, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target rod on the wooden assembly board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1289, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the table and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the base of the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white ring on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white ring from the tabletop and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white ring with the top of the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the purple peg and fits it onto the peg."}], "episode_index": 4}
+{"source_uid": "007b76ed2478ccdd", "num_frames": 2139, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "895ca5e2-0e83-4a00-b32a-412f086d684b"}, {"label": "valid", "start_step": 0, "end_step": 2106, "id": "DHFiLctO_qrmACIDAsMMa"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "goal", "start_step": 141, "end_step": 265, "id": "4bb09a1c-0a3a-4149-a9df-e45f5460f16f"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "goal", "start_step": 266, "end_step": 475, "id": "f46b1362-7b6c-47b3-9e3f-bf4627b654ea"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "goal", "start_step": 476, "end_step": 610, "id": "d0bc2172-4f14-4ba0-9692-1588027124bc"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 611, "end_step": 685, "id": "7f1a21f8-fb2d-4032-874b-1499dd413caf"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "goal", "start_step": 686, "end_step": 810, "id": "7bbff2f2-e8b8-47d5-8a05-a3419ffc2ad3"}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "goal", "start_step": 811, "end_step": 880, "id": "72bec814-bcec-4482-a345-1174a8fdb7ca"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "goal", "start_step": 881, "end_step": 1000, "id": "15b16b6d-f1e3-4186-a15d-201a2dd99784"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1001, "end_step": 1080, "id": "53799dbd-9e11-45a4-aee8-ebc657dc260f"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1081, "end_step": 1225, "id": "f8a32900-6334-4c84-9fdb-b103590c55cc"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "goal", "start_step": 1226, "end_step": 1310, "id": "5c987805-361d-4756-bb45-62f9a36c1243"}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1311, "end_step": 1435, "id": "a9c0db38-b1bf-41c1-8da9-07df99a7abdf"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "goal", "start_step": 1436, "end_step": 1510, "id": "b84a4375-0f42-4b9f-a8fc-83df48f08dee"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "goal", "start_step": 1511, "end_step": 1670, "id": "8b01b7db-0d23-4e8b-879b-26cf5f93484a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1671, "end_step": 1740, "id": "05cc0eec-9080-4e96-baf2-35e37414cb50"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1875, "id": "4a5113a7-63ab-4701-a80b-2480a3a8f822"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 1876, "end_step": 1945, "id": "75914211-9598-4776-81c0-ac0d9d6bfd42"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "goal", "start_step": 1946, "end_step": 2065, "id": "253aa68f-a588-41d3-8968-70b7fceb6403"}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}, {"label": "home", "start_step": 2107, "end_step": 2138, "id": "l4ZBNyPiqgxLoSuwcOw36"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: idle: Right hand stays empty at the right initial position of the workspace without noticeable movement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves from its initial right position toward the green hexagonal block located in front of the central wooden peg board, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the green hexagonal block in front of the wooden peg board, with ongoing minor adjustments to establish firm contact."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward toward the purple pegs on the wooden assembly board."}, {"label": "subtasks", "start_step": 180, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg on the wooden board, lowering the block to fit it onto the peg with slight positional adjustments."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand holds the green hexagonal block and lowers it onto the purple peg of the wooden assembly stand until the block is fully supported by the stand base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty downward from the assembly stand toward the white hexagonal nut block on the black table surface, before establishing grasping contact."}, {"label": "subtasks", "start_step": 322, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes contact with the white hexagonal nut block on the table, adjusting finger positions and closure with small continuous movements to form a stable grasp."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, and transports it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, and lowers the nut with small positional adjustments to fit it onto the rod over the existing green block."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden stacking rack until the block rests stably on the green base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward empty toward the front green hexagonal block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the black table surface to establish a grasp."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface while moving upward and toward the wooden assembly rack, positioning the nut above the target purple rod."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod on the wooden rack, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the area above the wooden assembly stand toward the white hexagonal nut on the table surface in front of the stand, without touching the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the lifted white hexagonal nut through the air to position it directly above the purple vertical assembly post on the wooden stand."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the purple vertical post, moves the nut downward to fit it onto the post to complete assembly, then opens fingers to release the seated nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat the block on a purple peg of the wooden assembly base, opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a downward direction toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusts finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to nest it securely onto the post."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: hold: Right hand holds the green hexagonal block nested on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden pegboard, releasing the block as fingers open slightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hexagonal block on the black table surface, approaching the block without establishing contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand makes slight finger movements to adjust and stabilize its grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and transports it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base, lowers the block to fit it onto the rod, and makes small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the held white cylindrical block onto the green block on the purple rod of the wooden assembly, seating the block so it is stably supported by the green block below."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: release: Right hand opens its fingers and pulls backward away from the seated white cylindrical block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward with an open palm toward the small white hexagonal block resting on the black table surface adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the small white hexagonal block on the table, making slight adjustments to finger position to establish a secure grip on the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple vertical rod, fitting the nut onto the rod to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place_release: Right hand lowers the white hexagonal nut along the purple vertical rod to a stable resting position on the lower section of the rod, opening fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves diagonally down-right with open fingers toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand gradually closes fingers around the white hexagonal block on the dark table surface to form a grip, with minor finger adjustments visible."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the white hexagonal block upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand moves the held white hexagonal block up and right to position it directly above the purple rod on the light brown block rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple rod, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand slides the white hexagonal block down the purple rod to lower it onto the supporting white block beneath, until the block is stably supported."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: reach: Right hand moves downward from the position near the white cylinder group toward the green holed cube on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: grasp: Right hand closes its fingers around the green holed cube on the table to form a stable grasp, while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: lift: Right hand lifts the grasped green holed cube upward until the cube is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: transport: Right hand carries the green holed cube upward and leftward to the position directly above the rightmost white cylinder on the light wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: mate: Right hand makes slight positional adjustments to the green holed cube to align its central hole with the purple top of the white cylinder below."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable displacement or hand shape change across all frames. | Right hand: place: Right hand lowers the green holed cube downward along the white cylinder until the cube is stably supported on the stacked cylinders."}], "episode_index": 5}
+{"source_uid": "f26b99acecef5f87", "num_frames": 2136, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "goal", "start_step": 0, "end_step": 155, "id": "88b8c4a0-ac56-4d33-8f4b-cd59afd2ea3d"}, {"label": "valid", "start_step": 0, "end_step": 2104, "id": "rnl4QRNDAPBMbbfAoN0JQ"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "goal", "start_step": 156, "end_step": 330, "id": "6db0e960-a523-4d36-9985-c985c9566870"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "goal", "start_step": 331, "end_step": 380, "id": "ce7d43b6-27d0-4b1a-83fd-e8ee04d62b2a"}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "goal", "start_step": 381, "end_step": 545, "id": "dab56fcc-5115-406c-a618-7ce16257eca7"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "goal", "start_step": 546, "end_step": 615, "id": "0495e783-f01a-4907-ab0a-ea1829c52562"}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "goal", "start_step": 616, "end_step": 775, "id": "7b422736-6b73-4c92-9229-206c756cf37f"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "goal", "start_step": 776, "end_step": 850, "id": "f451f33d-69de-4fe6-9b69-18432199ed0f"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "cd6bd78a-51d5-4600-8f8b-fb5535a62038"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "goal", "start_step": 971, "end_step": 1030, "id": "1e28f5f0-ca3b-4a29-a17b-521ce477f328"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1031, "end_step": 1140, "id": "5775e0a3-124a-4863-a09a-f4a0c898928a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1200, "id": "bfe52bab-5ec1-4bb3-bff2-8009365ae9a7"}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "goal", "start_step": 1201, "end_step": 1315, "id": "46d3e7c7-aa3f-4e34-ac80-079cfa65866d"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "goal", "start_step": 1316, "end_step": 1395, "id": "4f4e7f80-0345-432f-ae49-dbc0b048af56"}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1500, "id": "91080bd7-cea0-4073-ab36-5c337a9bc1c7"}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "goal", "start_step": 1501, "end_step": 1735, "id": "02af6453-0d1a-4c3c-8f58-a9ba0049996d"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1870, "id": "61872641-bef0-469e-a065-a93fff2cef2c"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1871, "end_step": 1940, "id": "ee463186-eb41-450e-8d2e-a829509207a3"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2065, "id": "68205b5c-edc1-4cbe-836d-9b8c98acb49a"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}, {"label": "home", "start_step": 2105, "end_step": 2135, "id": "i66yhKOOl7sdVC7_7JRsa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the home position without moving."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the black table surface, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block on the table, making small adjustments to finger positions to establish a grasp, while the block remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, then lowers the block downward to fit it onto the peg until it contacts the wooden base surface."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden base without observable movement."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack, approaching the white hexagonal block placed on the table in front of the rack without touching the block yet."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 428, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted onto the purple peg, separating the hand from the block."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the empty purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, slightly adjusting position to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: press: Right hand presses the top white hexagonal block on the front wooden peg downward to seat it fully on the peg."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block positioned directly in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block in front of the wooden base, adjusting finger contact to establish a grasp."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut adjacent to the wooden assembly base and closes its fingers to grasp the nut."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to a position directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, making slight positional adjustments before lowering the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and carries it upward toward the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block onto the peg to fit the assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the area above the wooden block base toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple cylindrical post on the wooden block base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple cylindrical post, then lowers the nut to fit it securely onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty from the area above the wooden assembly base toward the upper white hexagonal nut placed on the black table surface to the right of the base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the upper white hexagonal nut on the black table surface to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the position next to the purple rod on the block set toward the white hexagonal nut placed on the black table surface, without making contact with the nut."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the upright white hexagonal nut to establish a firm grip on the nut."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reorient: Right hand rotates the grasped white hexagonal nut around a horizontal axis to tilt it from an upright orientation to lying flat on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the flat white hexagonal nut against the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts its finger positions and wrist angle slightly to refine the grip on the white hexagonal nut, with small repositioning movements of the hand."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit onto the rod and rest stably on top of the existing white block beneath it."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward across the black table surface toward the small green square block, approaching the target block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the small green square block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green square block stationary on the dark table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green square block off the dark table surface and transports it upward and leftward to the position directly above the target white bottle on the wooden block holder."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the target white bottle and fits the block down onto the bottle."}], "episode_index": 6}
+{"source_uid": "3775dfbad9b73d3f", "num_frames": 2180, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "846e1a45-8a09-4f94-8258-88bcf9dd4554"}, {"label": "valid", "start_step": 0, "end_step": 2149, "id": "7vZ_KcgPHqufCvhYEubLv"}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "goal", "start_step": 171, "end_step": 350, "id": "60347878-fc0b-44fd-bab3-1ebd11f23238"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "40d6b73a-37a4-4080-8812-40d684243db7"}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 421, "end_step": 560, "id": "3b56bb0d-cf8d-4222-87fe-05533ae95a99"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 561, "end_step": 635, "id": "8ef2ff99-9a74-4639-8db2-b0cf634798a4"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 636, "end_step": 810, "id": "84f98c51-f881-4865-935a-5f5beb0f7fff"}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 811, "end_step": 895, "id": "013c2290-006a-4a95-9e48-f22d9da4c5b1"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 896, "end_step": 1025, "id": "99df17ad-a703-45ad-acf9-94ce799c6c14"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "goal", "start_step": 1026, "end_step": 1110, "id": "ff8594dd-645b-4bc8-b259-eb36cd65fd3c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "goal", "start_step": 1111, "end_step": 1215, "id": "82e284f4-a043-45d8-a35e-810d2679d4fd"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "goal", "start_step": 1216, "end_step": 1285, "id": "9261b847-d12d-4d08-af59-6ef2d93a1391"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 1286, "end_step": 1415, "id": "0ad9f1fa-5970-4ded-bc24-bde88b4aa9f5"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1416, "end_step": 1460, "id": "07717c65-a669-49f8-92e6-28840da6d3e1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1461, "end_step": 1620, "id": "82d0f595-f85c-4898-afa3-48fa72219ecf"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1621, "end_step": 1690, "id": "b4a89c98-0ede-4af8-9aec-69bf1b7a1e6e"}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1691, "end_step": 1925, "id": "007aef89-b943-4105-95a1-f67143f71367"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "1fcee488-3c85-4501-9f25-74882a64edcf"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1986, "end_step": 2110, "id": "5fd29bb2-cebd-4ea5-9a7d-7ba95e3b36d0"}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}, {"label": "home", "start_step": 2150, "end_step": 2179, "id": "ydCBdCPmRBG6Pep-sQOTq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:slight_move: Left hand moves slightly upward and remains empty during the movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 38, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the rightmost purple rod fixed on the wooden base, without touching the rod."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the rightmost purple rod, with slight wrist adjustment to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the grasped purple rod downward along its axial direction."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the green block up from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the green block to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the leftmost purple rod of the assembly rack."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach_grasp: Right hand reaches downward towards the white hexagonal block on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden pegboard."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg and lowers it onto the peg to complete insertion."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the green hexagonal block after it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: retreat: Right hand moves downward away from the building block set on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the tabletop and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the purple rod on the wooden base, fitting it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring, leaving it placed on the purple rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring with the rightmost purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: release: Right hand releases the white hexagonal ring after it is fully placed on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: place: Right hand places the white block with purple rod onto the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: reach: Right hand moves toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without any movement. | Right hand: mate: Right hand aligns the green block with the purple rod on the white block and fits it onto the rod."}], "episode_index": 7}
+{"source_uid": "71ee42684fa22726", "num_frames": 2119, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "goal", "start_step": 0, "end_step": 227, "id": "7b23a8b4-8770-4af9-a3d3-35d58e6e1ed8"}, {"label": "valid", "start_step": 0, "end_step": 2084, "id": "uNS2gzp2eRMb5DxMo80Z6"}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 228, "end_step": 512, "id": "c1966246-afc5-42b3-b2cb-9eecf71cee97"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "goal", "start_step": 513, "end_step": 592, "id": "d4a2897c-a2ba-4f60-91ac-9d19f949ba0b"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "goal", "start_step": 593, "end_step": 712, "id": "8dbae334-49eb-47c6-b2aa-9c0666077b15"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "goal", "start_step": 713, "end_step": 792, "id": "16701e46-2918-417f-8814-86ed30240881"}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "goal", "start_step": 793, "end_step": 917, "id": "4ce7278a-3c6c-4497-bfdb-1eda3de72d9c"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "goal", "start_step": 918, "end_step": 987, "id": "7dfe047b-a712-408d-a249-1ba0f02731fb"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "goal", "start_step": 988, "end_step": 1102, "id": "113848ee-4374-4473-b998-8c5b581f6844"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "goal", "start_step": 1103, "end_step": 1167, "id": "a3d2f33e-75a9-4d9b-a405-7165974573ac"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "goal", "start_step": 1168, "end_step": 1272, "id": "a487bde6-6581-404c-8607-472d31d5bf32"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1273, "end_step": 1357, "id": "65d0f5e2-3260-4bf5-bfc7-e81142fca3e2"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 1358, "end_step": 1472, "id": "0b928197-3104-4df3-b877-697a380bc2b5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "goal", "start_step": 1473, "end_step": 1532, "id": "df21d5c7-47c1-43a8-ab78-1f905ac368ac"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 1533, "end_step": 1637, "id": "efeab232-4b32-4ccd-97d5-989c20d316b5"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "goal", "start_step": 1638, "end_step": 1707, "id": "ce58db7d-593d-4045-8c54-503e3bf5120a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "goal", "start_step": 1708, "end_step": 1812, "id": "1621befa-b7a0-4de8-9c17-dfe728ce937c"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "goal", "start_step": 1813, "end_step": 1897, "id": "31a0648d-7655-4103-a28a-88ab5a495c94"}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "goal", "start_step": 1898, "end_step": 2052, "id": "bfa3dd24-5379-4102-b62a-f16e453067bc"}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}, {"label": "home", "start_step": 2085, "end_step": 2118, "id": "qkSspcvvMnVv4N5jydODc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement or rotation."}, {"label": "subtasks", "start_step": 45, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves left toward the green hexagonal block near the wooden peg base, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 120, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand adjusts its wrist position and closes fingers around the target green hexagonal block, making small contact adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 262, "end_step": 547, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, slides the block down the post to complete the assembly fit."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty from the wooden assembly base toward the white hexagonal block placed on the table below."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the purple vertical peg on the wooden assembly block and lowers the nut to nest it onto the peg until it rests on the green supporting block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the position above the wooden peg stand toward the white hexagonal nut placed on the table surface, fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 758, "end_step": 801, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table, making small adjustments to the wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward to position directly above the target purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowering it to fit onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward from the top of the block set toward the white hex nut on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand fingers close and adjust to firmly grasp the white hex nut resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hex nut off the table surface and moves upward to position the nut above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the white hex nut with the purple peg below and moves the nut downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the white hex nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand lowers the white hexagonal block onto the target purple peg on the pegboard until the block is supported by the base, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward through the air toward the green hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to position above the target purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any noticeable movement or adjustment."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand moves the held green hexagonal block downward to place it onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface while transporting it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple rod, lowering the block to fit onto the rod over the existing stacked block on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward in an empty state toward the white hexagonal block adjacent to the right side of the wooden block base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface with open fingers, staying out of contact with the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a firm grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward to the position above the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top end of the purple rod, and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: place_release: Right hand positions the gray ring onto the top of the purple rod on the wooden base, fingers opening to release the ring onto the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green block resting on the dark table surface, approaching the block."}, {"label": "subtasks", "start_step": 1882, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: grasp: Right hand makes contact with the green block on the table, fingers closing and adjusting contact points around the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and horizontally to position it directly above the purple rod on the rightmost white bottle of the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious displacement or rotation. | Right hand: mate_place: Right hand aligns the central hole of the green block with the purple rod on the bottle, moves the block downward to slide the rod through the hole, and lowers the block until it rests stably on the top surface of the rightmost white bottle cap."}], "episode_index": 8}
+{"source_uid": "513864a75e22744d", "num_frames": 2713, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "b4215081-61a5-4ed8-8260-6798d9011e55"}, {"label": "valid", "start_step": 0, "end_step": 2679, "id": "-izBcOl6OyBW1V23CTk4q"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 360, "id": "d7022695-2b7e-40bc-965f-67aad6aebc1e"}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 361, "end_step": 435, "id": "62c1b1d0-072f-48eb-be0d-bad908f51901"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "goal", "start_step": 436, "end_step": 570, "id": "999cbd52-b4f0-40e3-bfa0-24e29b9cb56b"}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 571, "end_step": 640, "id": "1f889287-68a1-43e7-b972-0f608446ea07"}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "goal", "start_step": 641, "end_step": 795, "id": "d51aa309-9e48-42da-9dc9-0ec9e44c48fa"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 796, "end_step": 870, "id": "e0873649-c10b-49c3-a84e-d6518627222c"}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 871, "end_step": 995, "id": "bb10d017-5a14-431f-9db0-97e13e6e6a87"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "goal", "start_step": 996, "end_step": 1060, "id": "ac5db43e-56b3-49e1-aded-25bb07a01ad9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1155, "id": "87bc00ad-b63a-45fa-a630-ca89ff4195be"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1156, "end_step": 1240, "id": "ef03fd54-e6cd-4bd6-9121-ade3eff21a79"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "goal", "start_step": 1241, "end_step": 1345, "id": "e22a70ac-9071-433d-a549-f3d4f4d603a3"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1346, "end_step": 1410, "id": "ea16ff3f-9e26-4219-93dc-721a60cc166f"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1411, "end_step": 2110, "id": "02f88ee5-0544-4a15-8719-042f73f6f913"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2111, "end_step": 2180, "id": "902ae01a-ed8f-4d65-b1c4-ab76548b2a4b"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2181, "end_step": 2315, "id": "89003fc1-b110-4259-934f-b9f5b3465f54"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "goal", "start_step": 2316, "end_step": 2390, "id": "b338fbf1-b127-4d89-b5cd-f6392274e143"}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2391, "end_step": 2637, "id": "6f790415-afd2-44a9-8c9a-d66c98e3a09a"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}, {"label": "home", "start_step": 2680, "end_step": 2712, "id": "XFzqlucLlT5VdnsBR7FXK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers slightly opening and hand rotating outward, remaining empty. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and forward from the right side of the table toward the white cylindrical pegs on the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the white cylindrical pegs on the wooden base leftward, causing them to topple over."}, {"label": "subtasks", "start_step": 82, "end_step": 97, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the leftmost green hexagonal piece on the table."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "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: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by lowering and pressing it down along the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it to above the left purple post of the pegboard."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the left purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the left purple post without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward toward the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers slightly open."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it to above the middle purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple rod by lowering it down the rod."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the middle purple rod, with fingers opening and hand moving slightly upward."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table surface, with fingers closing around it."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the green block of the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it left toward the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1462, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the existing white block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1597, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves right across the table toward the second white hexagonal block on the far right."}, {"label": "subtasks", "start_step": 1598, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the far right table, with fingers adjusting and closing to secure the grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1761, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the table and moves it left toward the area beside the wooden tray."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the second white hexagonal block and places it on the table surface next to the wooden tray, where it is supported."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand re-grasps the white hexagonal block on the table beside the tray, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and left to the top of the purple rod, adjusting the block's orientation to align the central hole."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple rod and inserts the rod into the block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod and places it on the topmost existing block on the rod, where it is supported."}, {"label": "subtasks", "start_step": 2100, "end_step": 2114, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple vertical rod on the wooden base at the table center."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning the block's hole with the rod and sliding the block downward along the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple small rod on the front-right white cylinder of the wooden base downward."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the wooden rack with white bottles."}, {"label": "subtasks", "start_step": 2438, "end_step": 2511, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped white bottle on the rack and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2512, "end_step": 2639, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}], "episode_index": 9}
+{"source_uid": "73bd649b6540e5d6", "num_frames": 2361, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "ae3a0d33-2b75-4796-b860-5b8dd19d269b"}, {"label": "valid", "start_step": 0, "end_step": 2329, "id": "MvIgK8wXQ035GTXtdg1af"}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "goal", "start_step": 146, "end_step": 285, "id": "81ad4dc9-2803-4ad9-bfd7-aaf901aaf027"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "goal", "start_step": 286, "end_step": 370, "id": "61cf4ea8-0cde-4c2b-84f8-cf00d6336715"}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 371, "end_step": 515, "id": "59f84b89-3988-488f-9c07-c3cec5fc3b8f"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 516, "end_step": 595, "id": "75224172-73c2-4cfd-852f-7d334ededa3a"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 596, "end_step": 845, "id": "f1607859-1cec-4e55-8e59-e6b6a2e4ca06"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 846, "end_step": 950, "id": "578ed4be-49ff-440a-a256-334acf28b751"}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 951, "end_step": 1105, "id": "7e6d7210-e4ad-4981-9d41-a3d3909362b0"}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1106, "end_step": 1160, "id": "75dc598c-6313-4c3c-ae0b-9b8147f05010"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 1161, "end_step": 1285, "id": "1eab20ca-13e2-403b-9248-019699d08729"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "goal", "start_step": 1286, "end_step": 1355, "id": "c24a2e94-a38c-4c08-9254-3da8fc28f513"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1356, "end_step": 1490, "id": "bf7ed551-c18e-4df3-9eea-12200065257f"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1575, "id": "32cbb961-07a7-479c-a863-4631ec83602a"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "goal", "start_step": 1576, "end_step": 1680, "id": "67734bf0-efbe-4646-92a6-a837e656bcec"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "goal", "start_step": 1681, "end_step": 1735, "id": "db9058ad-f9a7-428b-bc94-e3b0c5f014e6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1736, "end_step": 1865, "id": "2b924305-5d8a-4f01-b1d8-d2e84e0be9be"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 1866, "end_step": 1920, "id": "c3acd839-6a1d-4903-98c8-18c96a942cdf"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "goal", "start_step": 1921, "end_step": 2290, "id": "80569fb5-e002-4ed1-ba68-7a01c2cc3ed5"}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}, {"label": "home", "start_step": 2330, "end_step": 2360, "id": "XM3kHk60K8e2xP04PJOQ7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves forward towards the white block on the left front purple rod of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white block on the left front purple rod."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the purple rod and moves it downward towards the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block on the black table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the bottom of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from above the wooden peg board toward the white hexagonal ring on the black desktop."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal ring on the black desktop and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 570, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the area above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 630, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves down from the wooden rack toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple rod, sliding it down to complete the assembly."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white ring placed on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface by closing fingers."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block from the table and transports it to the area above the white bottle with purple cap."}, {"label": "subtasks", "start_step": 1988, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple cap of the white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down along the purple cap until it is fully fitted on the white bottle."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats away from the wooden tray."}], "episode_index": 10}
+{"source_uid": "6e79b6e46fa22544", "num_frames": 2160, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "1505641c-39da-4db3-9b6e-50d68070a4e8"}, {"label": "valid", "start_step": 0, "end_step": 2131, "id": "ctjQhpHI1ex6qPIvJXU7M"}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "ad5c976a-b205-4175-8a5b-58c99b754fb6"}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 410, "id": "f0ade8a3-954d-4abd-8fc5-da3cae36cef1"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "goal", "start_step": 411, "end_step": 575, "id": "3df57f8b-1e80-4375-bb3d-2b69cac3c200"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "goal", "start_step": 576, "end_step": 650, "id": "67908d50-0f5e-48bb-8b75-12bc8a527efd"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "goal", "start_step": 651, "end_step": 775, "id": "97a16225-8daa-4e5c-bf90-7d351368f88c"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "goal", "start_step": 776, "end_step": 840, "id": "ee38a8d2-ec2c-4028-a8cb-220681020707"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 841, "end_step": 1005, "id": "55936fdf-f789-4f71-9699-42f526b1db22"}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1070, "id": "4cf4139d-f04d-4b41-ad7c-a740df2007ee"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1071, "end_step": 1195, "id": "700e4683-213f-41eb-9ea6-dc17e0945faa"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "goal", "start_step": 1196, "end_step": 1280, "id": "7f33cf3d-c762-4c8b-9338-05e093cf89a4"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "goal", "start_step": 1281, "end_step": 1410, "id": "1b7fb995-8a99-4f0f-bb0e-63cab472a142"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "goal", "start_step": 1411, "end_step": 1495, "id": "93685480-cf1e-4ceb-9ee2-a96506490921"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "goal", "start_step": 1496, "end_step": 1730, "id": "beaceed0-cba2-4734-a09d-af8b04802735"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "goal", "start_step": 1731, "end_step": 1815, "id": "a8bc398e-acfa-4782-b058-5b3aa2620a9b"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "goal", "start_step": 1816, "end_step": 1920, "id": "a974854e-6f27-482d-802e-703fa7d577a1"}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "goal", "start_step": 1921, "end_step": 1980, "id": "0ecc264e-0d0f-4834-a765-cc841707eaf2"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1981, "end_step": 2090, "id": "a77f5110-a61d-4d9d-b376-bf525f0d88e2"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}, {"label": "home", "start_step": 2132, "end_step": 2159, "id": "SnByDeBF_npKvgXWIw1oL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: idle: Right hand remains empty at the right side of the black table without observable movement."}, {"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 black table without observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block placed in front of the wooden pegboard, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 90, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green hexagonal block in front of the wooden pegboard to establish a grasp."}, {"label": "subtasks", "start_step": 158, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to a position directly above a purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 188, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple peg, lowering the block until it sits securely on the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block seated on the purple peg, ending contact between the hand and the block."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the upper area near the wooden peg board, empty, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to make contact with the nut surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal nut, moving slightly upward away from the nut with an empty hand."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut, closing fingers around the nut to adjust contact while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black table surface and lifts it upward until the nut is fully off the table."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and moves the nut downward to nest it onto the rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost peg of the wooden assembly board downwards to seat it fully and breaks contact with the block."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves empty downwards from the assembly board toward the front white hexagonal block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, adjusting finger positions to establish a grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod and lowers the block to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the wooden block rack toward the white hexagonal nut on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the table to form a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward and horizontally to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand slightly adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple peg, and moves it downward to fit over the peg toward the white nut placed below."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg, with the nut resting on the lower white nut and no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward empty from the block stand area toward the green hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal nut off the table surface and moves it upward and left to the position above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod and lowers the nut onto the rod to complete the nesting fit."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple rod of the wooden pegboard and opens fingers to release the stably positioned block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward with an open posture toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface to establish a grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the dark table, lifts it upward until the block is fully separated from the table surface with closed fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the purple rod on the wooden block stand, moving it to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand, slides the block down the rod to nest onto the existing white block below with small wrist adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical object on the wooden block, separating from the object."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with empty hand toward the white hexagonal nut on the table surface, approaching the target."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grasp."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to a position directly above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1552, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit onto the rod, opens its fingers to separate from the block resting on the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: press: Right hand presses down on the uppermost white hexagonal block on the wooden rack to seat it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves downward and rightward with an empty palm, approaching the loose white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut, fingers gradually close around the nut with minor positional adjustments to establish a firm grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward toward the purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: reach: Right hand moves diagonally downward toward the small green block on the dark table surface, fingers held in a slightly open pre-grasp posture."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green block on the table, forming a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: lift_transport: Right hand lifts the green block fully off the table surface and transports it upward and leftward to position it directly above the rightmost purple-topped post on the wooden block base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align its central hole with the purple-topped post below, lowering the block to fit over the top of the post."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without observable movement. | Right hand: place_release: Right hand lowers the green block fully onto the purple-topped post so it is supported by the post, opening its fingers to release the block."}], "episode_index": 11}
+{"source_uid": "701e91aedf2427d0", "num_frames": 2774, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "674eda58-bcb0-4fa8-9713-46391e8c929c"}, {"label": "valid", "start_step": 0, "end_step": 2743, "id": "PqrQ_9HrAHqKAgdwh-SIr"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 111, "end_step": 240, "id": "81928e97-1a64-40d2-b0eb-278ba6333f42"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "goal", "start_step": 241, "end_step": 305, "id": "e7556ab1-17bd-497d-8da6-7c6f378a53a3"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "goal", "start_step": 306, "end_step": 445, "id": "58e14c22-f948-452e-9814-238a7e3fa84e"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "goal", "start_step": 446, "end_step": 945, "id": "8114bae9-bae6-4d89-9ac1-871b6e5acee0"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "goal", "start_step": 946, "end_step": 1170, "id": "ac9f113c-421f-4577-8bcc-3c9ff44517f5"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "goal", "start_step": 1171, "end_step": 1265, "id": "941140af-4ebf-46a6-94b1-295110aeb250"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "goal", "start_step": 1266, "end_step": 1380, "id": "61efaf2e-c933-4f91-a1be-8ca5a9527593"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "goal", "start_step": 1381, "end_step": 1440, "id": "c6166581-0278-48a3-8d47-1afefedc373d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "goal", "start_step": 1441, "end_step": 1555, "id": "84dd711a-dccb-4c26-9735-18c7fac3e858"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1556, "end_step": 1625, "id": "f0e3a35a-de8d-4695-9b7f-1eb22ab3f994"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1626, "end_step": 1735, "id": "9251c709-4cbc-4c7b-8683-0fc17a687104"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1736, "end_step": 1810, "id": "30f59c8b-92a5-416c-8ae7-015391a5d432"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 1811, "end_step": 1920, "id": "f10cfb62-5035-48a8-99af-4aaf2f8f140d"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "goal", "start_step": 1921, "end_step": 2310, "id": "da9d1c23-d50e-4a49-af97-cdf10dee6911"}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "goal", "start_step": 2311, "end_step": 2435, "id": "f417372f-3199-45ce-97bb-4b46537a2177"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "goal", "start_step": 2436, "end_step": 2600, "id": "f28beb22-5c9d-4868-ac51-c6a81d75955d"}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "goal", "start_step": 2601, "end_step": 2700, "id": "a84767cf-95e7-4fcc-a3ed-4f78635f569b"}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}, {"label": "home", "start_step": 2744, "end_step": 2773, "id": "6d-8zDj-dcZIS1BdrSRx0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it above the front-left peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left peg of the wooden rack and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 232, "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: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring onto the front-left purple peg of the wooden pegboard to complete mating."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the left part of the table."}, {"label": "subtasks", "start_step": 278, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table surface and transports it toward the front-left peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the front-left purple peg and lowers it onto the peg to complete mating."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal ring from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates white hexagonal blocks onto the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 555, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:drop: The white hexagonal block slips out of right hand and falls onto the left side of the table."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts and presses the white hexagonal blocks on the purple pegs of the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches leftward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the fallen white hexagonal block with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block rightward and downward to the lower area of the table."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the table and releases its grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block again after brief retreat."}, {"label": "subtasks", "start_step": 855, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts the position of the white hexagonal block on the table with fine finger movements."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the black table surface and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the front-left peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the front-left peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the rightmost purple peg of the wooden pegboard and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the topmost white hexagonal piece on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the topmost white hexagonal piece on the black table and adjusts the grip to stabilize it."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the green hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal piece on the table, adjusting its grip to secure the piece."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal piece off the table surface and carries it upward and leftward toward the middle vertical peg on the peg board."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal piece with the top of the middle peg and lowers it onto the peg until it is seated in place."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand gradually opens its fingers to release its grip on the green hexagonal piece fitted on the middle peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece off the table and moves it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the rightmost purple peg, sliding it downward until it rests on the green block at the bottom of the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal piece, with fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and inserts it down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical component on top of the purple rod at the right side of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal block on the table and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand attempts to mate the white hexagonal block with the purple rod by aligning and lowering it, and releases the block which falls onto the table after the failed attempt."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the fallen white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_block_on_table: Right hand adjusts the position and orientation of the white hexagonal block on the table surface with continuous small movements."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white ring-shaped object at the right side of the table without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white ring-shaped object and moves leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white ring-shaped object onto the purple peg on the wooden base before releasing it."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the front row of the wooden rack."}, {"label": "subtasks", "start_step": 2452, "end_step": 2497, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2498, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table as fingers close around it."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push_release: Right hand pushes the green cube leftward along the table surface, releasing the cube at the final position."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves rightward away from the green cube with empty hand."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward toward the green cube on the table with empty hand."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and making slight adjustments for stable grip."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2684, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the rightmost peg on the wooden base, lowering the block onto the peg to complete the fitting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00069", "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 cubic block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the peg area, moving backward away from the wooden base."}], "episode_index": 12}
+{"source_uid": "5d8411ae17da0a34", "num_frames": 2130, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "8dff8850-4897-4496-ac03-30ab00ad04a9"}, {"label": "valid", "start_step": 0, "end_step": 2098, "id": "_VrCGpU0ioZKjusFKl5gk"}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "goal", "start_step": 161, "end_step": 295, "id": "a43f2388-a02b-4610-9da0-1d628e41d68c"}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 296, "end_step": 355, "id": "340a962e-668f-41c6-8539-f8fb19775bcb"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 356, "end_step": 450, "id": "411a18f3-fa44-44cb-a0a5-1c8fff62b8ee"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 451, "end_step": 510, "id": "ffd2772e-88a2-4970-aa77-e3fa92055593"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 511, "end_step": 675, "id": "97a8a214-f2d6-48ac-a433-ff138b556f89"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "goal", "start_step": 676, "end_step": 735, "id": "886ed51b-46c9-44d4-af4a-7bdc3ee67dcd"}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 736, "end_step": 1020, "id": "44c86290-dfe3-4d80-8f03-21fc1554d161"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1120, "id": "ce34ac8c-2db8-45e3-80fe-9a638d12fba4"}, {"label": "goal", "start_step": 1121, "end_step": 1260, "id": "d73a2821-8111-474e-b989-9935b01400f9"}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "goal", "start_step": 1261, "end_step": 1320, "id": "d3f10b0a-b41c-4ad5-be53-003ddadb25b6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1430, "id": "1d03f486-3974-4557-b291-914f1b209fe0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1431, "end_step": 1495, "id": "1864a0b1-e85b-4ed1-99d2-6e7c5505fbe4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "goal", "start_step": 1496, "end_step": 1605, "id": "309ca8ce-eef2-4bef-8b60-72a48cff93d4"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1675, "id": "ff24669c-1090-41d1-8819-467fb7986d35"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1676, "end_step": 1860, "id": "a6ed0475-3061-4797-ae7e-f673f9d3468d"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1861, "end_step": 1925, "id": "3da0d9bd-1db3-4f2d-af13-cbcf8d956403"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "goal", "start_step": 1926, "end_step": 2070, "id": "d3588494-531c-4e52-a5c9-c706c79577fc"}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}, {"label": "home", "start_step": 2099, "end_step": 2129, "id": "XKQvJDWBCNE91sZngwubg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal object under the wooden rack on the black table."}, {"label": "subtasks", "start_step": 75, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards from the wooden base towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand transports the white hexagonal block upwards to the area above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple pillar by aligning and pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg, adjusting position until it is fully seated."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves away from the wooden base and reaches towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps and adjusts the green cubic block on the black table with slight finger movements to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it above the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it partially."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green hexagonal block down along the peg until it is fully seated on the wooden board."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block placed on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block, with fingers closing around it to form a stable grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, lowering it until it is fully seated on the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves away from the purple rod and the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: transport: Right hand carries the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the green hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hollow block and transports it above the rightmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand inserts the green hollow block onto the protruding top of the rightmost white cylindrical block to complete assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release_retreat: Right hand releases the assembled green block and retreats away from the wooden base."}], "episode_index": 13}
+{"source_uid": "a2c86d6e0f19ecc2", "num_frames": 2194, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "53f8faf5-f4aa-4d32-a600-3b30a81dfa4f"}, {"label": "valid", "start_step": 0, "end_step": 2164, "id": "mgeEeccOHJSvIknus2b-8"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "goal", "start_step": 146, "end_step": 270, "id": "2062f824-0a56-4c06-9b6d-47dbf0eebba8"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 271, "end_step": 355, "id": "03679350-74e7-4c46-a961-d3bd55d76ca9"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "goal", "start_step": 356, "end_step": 520, "id": "d15f606a-bfbf-4672-850a-4bf8a7583975"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 521, "end_step": 605, "id": "8f7049d1-2772-4d2e-84b6-23ebd47db2e0"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "goal", "start_step": 606, "end_step": 725, "id": "6c901ec6-41f9-4691-937f-57cf397856ce"}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "goal", "start_step": 726, "end_step": 790, "id": "7f70b106-bd0e-4b20-ab2e-bc56f99fc930"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 791, "end_step": 900, "id": "64dca41a-ef7b-4879-8ea3-7499ad158df8"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "70cbf4bc-8b49-4200-b32f-297751fd9ce7"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 971, "end_step": 1170, "id": "7dabe4ad-8e6f-44eb-9ac7-71934303c371"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1171, "end_step": 1180, "id": "fef955bc-012c-4775-ac10-4b049f5115e6"}, {"label": "goal", "start_step": 1181, "end_step": 1330, "id": "fa5f2184-1578-46b0-b70e-e8316592c2ae"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "goal", "start_step": 1331, "end_step": 1390, "id": "2e96e381-9f20-4967-a574-d80ea68c0a68"}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1615, "id": "9424cc03-ec50-484c-922a-34f15a9d6bac"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "goal", "start_step": 1616, "end_step": 1780, "id": "f1582df7-8f99-4839-8b9c-48c7e599caf1"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "goal", "start_step": 1781, "end_step": 1925, "id": "cd8ff266-495e-486e-b816-e7a15ac74132"}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "goal", "start_step": 1926, "end_step": 1985, "id": "6e54c5d6-01b9-450c-88fa-93e2112f7097"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2135, "id": "bd68068e-8e24-49e5-b5fc-beb2ad8ac4ea"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}, {"label": "home", "start_step": 2165, "end_step": 2193, "id": "44kZujFMY-kPrE1yiOO9w"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty at the right resting position above the table without obvious movement, maintaining a static posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves from the right resting position toward the wooden block assembly at the center of the table, approaching the target blocks without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand makes contact with blocks on the wooden base, adjusting finger positions and wrist posture to establish a stable grasp on the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg, moves the block downward along the peg to rest on the wooden base with small position adjustments for assembly."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the green hexagonal block placed on the front table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 322, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table and closes fingers, adjusting contact points to establish a stable grasp."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut, until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the wooden peg assembly, moving the nut to the position directly above the target purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut slightly to fit the peg through the hole."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand slides the white hexagonal nut down along the purple peg, lowering the nut to rest on the supporting hexagonal block below on the wooden assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the front purple peg of the wooden assembly base until it rests on the supporting green block below, fingers opening to break contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward from the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand makes small positional and rotational adjustments to the white hexagonal block to align its central hole with the purple peg."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg, placing it onto the top surface of the underlying green block where it is stably supported."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block resting on the table near the wooden base, with fingers slightly extended."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the empty purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block, aligns its central hole with the purple peg below, moves the block downward to fit the peg through the hole."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block fully onto the supporting block below on the peg, opens fingers to release the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the wooden block stand toward the green hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the purple post on the wooden block stand."}, {"label": "subtasks", "start_step": 1020, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple post and lowers it to fit securely onto the post, completing the assembly alignment."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted onto the purple post."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from above the block stand toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod, making slight adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block, then moves slightly upward away from the assembled block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table next to the wooden assembly base, with fingers held open as it approaches the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transporting it upward and horizontally to position the block directly above the purple vertical rod on the assembly base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate_release: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, lowers the block to fit it onto the top of the rod, and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1552, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: idle: Right hand remains empty and stationary next to the purple rod after releasing the block, with no observable movement of the hand or fingers."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block and adjusts wrist and finger positions to form a stable grip, with slight repositioning of the block during adjustment."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block steadily above the table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: transport: Right hand transports the held white hexagonal block upward and leftward toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the purple vertical rod, moves the block downward to nest it onto the rod until it rests stably on the supporting white block below."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: reach: Right hand moves downward empty from the area next to the stacked white objects toward the green square block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green square block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green square block off the table surface while moving it upward to the position directly above the purple post on the top white block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: mate: Right hand adjusts the position of the green square block to align its central hole with the purple post, moving the block downward to fit the hole onto the post and establish the nested assembly relationship."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace above the table without any observable displacement or posture change throughout the segment. | Right hand: place_release: Right hand lowers the green square block along the purple post until the block rests stably on the top surface of the white block, opening fingers to release the block."}], "episode_index": 14}
+{"source_uid": "472e2ea0f4ee4d23", "num_frames": 3038, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 145, "id": "9846c0d6-6379-4a5f-8000-8a303f6af7ae"}, {"label": "valid", "start_step": 0, "end_step": 3009, "id": "G21jYmAxIjZIZu9RpFYy4"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 146, "end_step": 250, "id": "288826c7-c1b7-4f91-a9f4-6d028558903d"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 251, "end_step": 310, "id": "638b61ec-0054-4635-97a8-dbd4f9c84f78"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 311, "end_step": 435, "id": "3699e181-f085-4d91-b012-c04d2371f15a"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 500, "id": "fdae4e60-1103-4df7-a01f-8bef8d99974f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "goal", "start_step": 501, "end_step": 700, "id": "8bd4244b-b22e-42e2-8df3-c0fa4545d57e"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "72e87c45-70bd-4fb1-9781-684ac3cab81a"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 766, "end_step": 945, "id": "7b7d6ef5-6627-42e1-b006-b21dbecf7b90"}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "goal", "start_step": 946, "end_step": 1025, "id": "08791dcf-a726-4bd7-9615-a243094cc2e5"}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1026, "end_step": 1135, "id": "ad227624-81f7-48f0-99b4-d9e984b6c7fb"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1136, "end_step": 1770, "id": "2f3359d9-1afa-463c-95ed-89ba2a15f0b4"}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "goal", "start_step": 1771, "end_step": 1915, "id": "816997b7-7e37-437e-8416-5fa0939660d5"}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 1916, "end_step": 2125, "id": "864c6c03-b0cb-4105-a6e6-32c1ac2eb9df"}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "goal", "start_step": 2126, "end_step": 2270, "id": "dde1ca12-9ca8-4158-9f17-91263e51956c"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "goal", "start_step": 2271, "end_step": 2615, "id": "8c531ffb-4681-49f8-89ba-34e4faa6ebc3"}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2616, "end_step": 2750, "id": "a9016045-c186-47d4-a9f7-55c94673b739"}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "goal", "start_step": 2751, "end_step": 2830, "id": "d115458a-3d2d-4322-b715-b6fae8931534"}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "goal", "start_step": 2831, "end_step": 2980, "id": "e45043a7-4d4d-48c7-bdda-1e936e3549e1"}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}, {"label": "home", "start_step": 3010, "end_step": 3037, "id": "BSqjpFDFzASebG7XqkVGU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its finger and wrist posture while remaining at the left side of the table. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves leftward and downward to approach the green hexagonal block on the table below the wooden peg rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hollow block off the black table and transports it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hollow block onto the leftmost purple peg, lowering it down until it rests on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the green hollow block fitted on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the left front purple peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the middle front peg of the pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block with the middle front purple peg of the pegboard by lowering the block onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the target vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses the white hexagonal block downward along the peg axis to push it further into place."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white cylindrical part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 788, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple peg and lowers it onto the wooden base until it is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats downward away from the peg assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the top green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the top green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden base, aligning the block's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green block on the purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the bottom left of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the right side of the wooden base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the right side of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table at the lower right of the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: other:slide_block_leftward: Right hand slides the white hexagonal block leftward along the table surface toward the front of the wooden base while holding it."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white hexagonal block on the table, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front left of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block on the table at the front left of the wooden base and releases it, with fingers opening."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward and rightward toward the white hexagonal block on the table at the upper right of the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it leftward toward the front of the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table, with fingers slightly moving to reposition contact points."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal object from the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hexagonal object upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the white block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward to reach toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_place: Right hand lifts the white hexagonal block slightly off the table and places it back onto the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly upward away from the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward again to reach toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand initiates grasping the upper white hexagonal block on the table as fingers make contact with the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the white hollow hexagonal block leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the purple peg and fits it downward onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: place: Right hand places the white block with a purple rod onto the front-right post of the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: transport_release: Right hand carries the white hexagonal block toward the wooden base before releasing it to fall onto the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves upward toward the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: press: Right hand presses down slightly on the white block with purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2661, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg and lowers it to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate_release: Right hand inserts the purple thin rod into the front-right white cylinder on the wooden tray and releases the rod."}, {"label": "subtasks", "start_step": 2768, "end_step": 2811, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: reach: Right hand reaches towards the green block on the dark table surface below the wooden tray."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand grasps the green block on the dark table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green square block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand stays empty at the left side of the table without any observable movement. | Right hand: idle: Right hand remains empty beside the green square block on the rack without moving."}], "episode_index": 15}
+{"source_uid": "dda6f7dc02412b2c", "num_frames": 2118, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "226a95b0-96cf-4d9e-925a-1b992c840d67"}, {"label": "valid", "start_step": 0, "end_step": 2090, "id": "FD-NnB_4IMt90yFpkXPNJ"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 116, "end_step": 240, "id": "ee38ebcd-3e07-48e2-b26a-f54e222ca256"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 241, "end_step": 300, "id": "b8c08569-532c-4870-850c-4c0bd422d0b3"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 301, "end_step": 475, "id": "2af051a3-861b-47b4-8b10-97c5e948f8ea"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "goal", "start_step": 476, "end_step": 530, "id": "9a841d99-e000-4ea7-8a1c-b656c7405300"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "goal", "start_step": 531, "end_step": 645, "id": "9587f183-ac13-4254-96de-72e28bcdb6e3"}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "goal", "start_step": 646, "end_step": 725, "id": "40b7e4d9-06c6-444c-9972-ab7a7fa5f9bc"}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 726, "end_step": 960, "id": "88f500e5-b9e5-42ff-8f6e-ca7e9f53a94a"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "goal", "start_step": 961, "end_step": 1040, "id": "346c0982-5fa4-4757-b54f-aef9bd27e262"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "goal", "start_step": 1041, "end_step": 1175, "id": "f5ac83e7-8fa0-404c-ac9d-1414873dd672"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "goal", "start_step": 1176, "end_step": 1240, "id": "e1681dae-e811-4d97-9477-104414e12fc6"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1241, "end_step": 1365, "id": "c73d30d6-d07d-45fa-a5e6-0319f630b2ba"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1366, "end_step": 1430, "id": "a6017312-b121-43d0-813b-075dc25c349b"}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1431, "end_step": 1535, "id": "cada37d4-ceb9-4abc-922a-2ab5c5c88fe5"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "goal", "start_step": 1536, "end_step": 1605, "id": "59d85d97-8909-4b21-bc6b-e475a781207d"}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1705, "id": "a3098263-03e6-4e90-aa02-4ac25532728d"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "goal", "start_step": 1706, "end_step": 1775, "id": "4226113c-8638-43b5-b822-753e829f654c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "goal", "start_step": 1776, "end_step": 2075, "id": "8b00dbb4-1b86-46b7-8bc4-4131c8b3aa10"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}, {"label": "home", "start_step": 2091, "end_step": 2117, "id": "EPshbp8GMKaq8CaJRHTw0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_pose: Left hand adjusts its posture slightly at the left side of the table. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden base on the black table."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden base by inserting it downwards."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards from the wooden block base toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hex block on the black tabletop."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex block from the tabletop and transports it to the upper part of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hex block fitted on the purple peg."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the white ring on the table near the wooden base, and adjusts fingers to grasp the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the rightmost purple rod, inserts it onto the rod, and releases the block from grasp."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the black tabletop to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning the block's hole with the rod and pressing the block down along the rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grip on the white hexagonal block to fit it onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod by inserting the rod into the ring's central hole."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder with green base onto the rightmost position of the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the desktop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with purple tip to fit it onto the bottle."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure it in position."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the assembly position."}], "episode_index": 16}
+{"source_uid": "9d1abebea8aa7557", "num_frames": 2271, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "2f20d334-825d-4239-8a4e-fa10a0c06288"}, {"label": "valid", "start_step": 0, "end_step": 2242, "id": "iKwM6-u0KbYEDdVGMkAcE"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 196, "end_step": 510, "id": "e2bf4b47-42dd-4539-8b61-97fa0ec7d41d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "goal", "start_step": 511, "end_step": 570, "id": "d22e6e9e-236d-4657-9ac7-a2c09e472600"}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "goal", "start_step": 571, "end_step": 675, "id": "d8d6439b-6159-404b-a078-56c32c34f551"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "goal", "start_step": 676, "end_step": 745, "id": "426bf268-ba25-4c1c-8945-6c75ef2da9f7"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "goal", "start_step": 746, "end_step": 905, "id": "9b2619f0-cb50-4ffc-8d42-98bfc337ca1a"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "goal", "start_step": 906, "end_step": 985, "id": "b170808e-143c-42ce-9df4-004b2b3f762a"}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 986, "end_step": 1095, "id": "1e8bc211-2f1d-4959-97bf-523b1008def9"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1096, "end_step": 1165, "id": "9be2d4db-5472-4f3e-a65b-39c7caf07bd5"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "goal", "start_step": 1166, "end_step": 1315, "id": "7a02bbcd-47be-40af-a79f-b83c46af5a44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "goal", "start_step": 1316, "end_step": 1390, "id": "70094114-3158-4e79-a59d-78dafe86c7e0"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "goal", "start_step": 1391, "end_step": 1525, "id": "39ab30c2-f001-403e-8e92-30b164e8805e"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "goal", "start_step": 1526, "end_step": 1590, "id": "b1bd4d0b-b3c6-4c95-81ba-fbd3d8df8019"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "goal", "start_step": 1591, "end_step": 1770, "id": "15046fe0-9310-4f31-b064-5d5fd2b62a3c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "goal", "start_step": 1771, "end_step": 1855, "id": "78bf552c-d8f4-4524-8f8c-50520381d282"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 1856, "end_step": 2000, "id": "fd0ee29c-2a02-400e-a697-ae42b7462ec1"}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "goal", "start_step": 2001, "end_step": 2070, "id": "1a022112-4215-4629-a005-786a2dfb3d70"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "goal", "start_step": 2071, "end_step": 2200, "id": "5e0f3585-7dd9-49d8-aaf4-2e97a59bf484"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}, {"label": "home", "start_step": 2243, "end_step": 2270, "id": "iXBozPSd4hO3fLich8YVW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: idle: Right hand remains empty at the right initial position of the workspace without obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block placed on the table in front of the wooden block assembly, staying empty before contacting the block."}, {"label": "subtasks", "start_step": 75, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making continuous slight finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal block horizontally to position it directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 501, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the green hexagonal block to align its central hole with the purple peg, then slides the block down the peg to establish the mating fit."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand lowers the green hexagonal block further down the purple peg until the block rests stably on the surface of the wooden assembly base."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 548, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger and wrist positions to establish a stable grasp while the nut remains on the table."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, lowering the nut to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward, fully separating the nut from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit securely onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg of the wooden assembly stand and releases its grip on the block."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the target purple rod on the rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves with an open grip from above the wooden block base down toward the green hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table, adjusting its grip slightly to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand lifts the grasped green hexagonal nut vertically upward until the nut is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted green hexagonal nut upward and horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple vertical rod, makes slight rotational adjustments to the nut's orientation, and lowers the nut down to fit securely over the rod onto the existing block stack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the green cylindrical block on the wooden block base, separating from the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting contact positions to form a grasp on the nut."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward until the nut is fully off the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand carries the lifted white hexagonal nut toward the purple post on the wooden peg base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and slides the nut down to fit onto the post."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: retreat: Right hand moves empty downward and to the right, retreating from the operating area above the wooden block assembly."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves empty downward and to the left, approaching the upper white hexagonal nut placed on the table to the right of the block assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: transport: Right hand holds the white hexagonal nut and moves it upward and leftward toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand adjusts the white hexagonal nut to align its central hole with the top of the purple rod, fitting the nut onto the rod tip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until it rests stably on the stacked white nut below and is fully supported."}, {"label": "subtasks", "start_step": 1762, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, separating the hand from the nut positioned on the rod."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves downward and leftward from the upper right area toward the white hexagonal nut placed on the table, with fingers kept extended and the hand remaining empty."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to form a grip, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward and leftward to a position above the purple vertical rod on the wooden block tray."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit snugly onto the rod and seat it against the lower white block fixed on the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, loosening its grip on the block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: reach: Right hand moves diagonally downward toward the small green cubic block resting on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: grasp: Right hand makes contact with the green cubic block, with fingers closing around the sides of the block to establish a grasp."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and forward to the position above the purple peg on the wooden block stand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table workspace without obvious displacement or posture change. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, moving the block downward to fit it onto the peg."}], "episode_index": 17}
+{"source_uid": "9d63e2fbbe0e058d", "num_frames": 2153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 140, "id": "ca78978d-1336-449f-bbe2-4051b43a59f5"}, {"label": "valid", "start_step": 0, "end_step": 2123, "id": "7eInSgVvwwU6DdecX_dgF"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "goal", "start_step": 141, "end_step": 350, "id": "85c1c072-07b9-4714-99c2-5ff162627011"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 351, "end_step": 420, "id": "4fe7619e-794c-4d25-b7bc-0f4a80fbca61"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "goal", "start_step": 421, "end_step": 610, "id": "95a047bb-2064-414c-ad90-01f38a1425c2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 611, "end_step": 710, "id": "d1bbb38f-ed03-4220-9b91-d01b64bc912c"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 711, "end_step": 830, "id": "01d957cf-a3c0-4042-86da-d1e040132678"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 831, "end_step": 905, "id": "9b043b86-57e3-4820-9bce-16e31a55a39a"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "goal", "start_step": 906, "end_step": 1030, "id": "141f8c5c-8b14-4d0e-9d15-225a7937eb0f"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "goal", "start_step": 1031, "end_step": 1105, "id": "1dabefe1-0e42-432a-a557-e0e28723099c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1106, "end_step": 1210, "id": "56b5fe8b-a25c-4d65-b98c-3dc236cd90ff"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "goal", "start_step": 1211, "end_step": 1295, "id": "6bd86c74-77f9-4540-b3ef-52fcd666958a"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "goal", "start_step": 1296, "end_step": 1455, "id": "1d37d26d-cd24-4dbb-af07-2678fff30630"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "goal", "start_step": 1456, "end_step": 1530, "id": "4e315a0d-e19e-4e0c-a143-dc4fefaf4c3c"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1531, "end_step": 1640, "id": "ea3f6d0e-ea6a-4586-8f95-e8609a7a0622"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1641, "end_step": 1705, "id": "e3f48584-0f14-41d1-b268-48504a478dc3"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "goal", "start_step": 1706, "end_step": 1850, "id": "93dc1b2d-b91c-4ca5-981c-a3716e440ca3"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "goal", "start_step": 1851, "end_step": 1920, "id": "7dcb4c9f-91ce-4ca1-b1f4-f7792c6a3a67"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "goal", "start_step": 1921, "end_step": 2080, "id": "a5e722fb-ed36-4427-925f-e98054311dcb"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}, {"label": "home", "start_step": 2124, "end_step": 2152, "id": "nBgFD1aGiCNDqLJf73umO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand opens its fingers slightly and adjusts posture at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand reaches toward the green hexagonal object on the table, moving leftward and downward from the right side with fingers slightly open."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal object on the table, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal object steadily on the table without any movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, with fingers closing to establish a stable grip while the ring stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it upward and rightward to the position above the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 172, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple pegs on the pegboard and fits the ring onto the pegs with repeated position adjustments."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the green hexagonal ring by opening its fingers, fully separating from the ring."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: retreat: Right hand, which is empty, retreats rightward away from the pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand fits the white hexagonal block onto the rightmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green block and transports it to the top of the left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal nut onto the left purple peg by adjusting it to slide down the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal nut on the left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: transport: Right hand transports the white hexagonal ring upward and leftward to the position above the peg on the green base."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand moves downward to mate the white hexagonal ring onto the vertical peg until the ring is fully fitted."}, {"label": "subtasks", "start_step": 758, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal ring on the peg of the green base without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand adjusts the white ring to fit onto the left purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers around the white ring on the table to establish a grasp."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the right purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the right purple peg and slides it down the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg of the wooden base and releases it as fingers open."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate_release: Right hand inserts the white cylindrical piece onto the purple peg and releases it."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, lowering the block to fit its hole onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the stacked block area to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: reach: Right hand moves downward from the right side of the wooden block stack to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple peg on the wooden block stack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: release_reach: Right hand releases contact with the purple rod on the rightmost white bottle of the wooden rack and moves downward toward the green square block on the dark table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: grasp: Right hand grasps the green square block on the dark table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: hold: Right hand holds the green square block on the dark table without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it leftward and upward to the top of the rightmost bottle on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and motionless at the left side of the table. | Right hand: mate: Right hand mates the green block onto the rightmost white bottle with a purple tip on the wooden base, lowering it to fit around the bottle."}], "episode_index": 18}
+{"source_uid": "b71664c48074e02a", "num_frames": 1977, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "159c5ff4-0330-4e41-8072-e0d0169efc1c"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QX5Y22cL1J6YVsyANbgzS"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 290, "id": "7cd92623-e3c6-4d77-8ee0-3bb1247fc6f2"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "goal", "start_step": 291, "end_step": 360, "id": "f9ff4781-c02b-4fa7-96f2-a0120b8ce2d2"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "goal", "start_step": 361, "end_step": 460, "id": "cf9d9f73-d23a-4901-a620-e4bc2db999e3"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 540, "id": "b04969eb-58a2-4f93-b361-291fada6a435"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "goal", "start_step": 541, "end_step": 650, "id": "c805d3a1-736f-4976-b587-d286d11d96be"}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 651, "end_step": 785, "id": "582d8f28-5d01-44e5-ab83-0522f9163895"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 786, "end_step": 900, "id": "a80c6131-e97c-4ca7-bbe4-f2a555bcd719"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 980, "id": "6c3dfb92-b100-4cf4-a038-1fd8f9b5f9d5"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 981, "end_step": 1095, "id": "b6940ff2-4d7c-49f5-a0ea-8770e5d6c78c"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1096, "end_step": 1160, "id": "2ce917d0-1070-4115-a602-8c5d489ec6fe"}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1161, "end_step": 1295, "id": "eafb8566-da26-4ea3-9d06-d9a293dddf1d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1296, "end_step": 1385, "id": "8e7cc425-47c0-4d58-bf28-16382bbc2483"}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "goal", "start_step": 1386, "end_step": 1515, "id": "1f99ff46-52a5-4967-801a-ddd8171e93af"}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1516, "end_step": 1590, "id": "6154053e-1b0a-419d-8f88-6f8173ae1ed7"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1591, "end_step": 1705, "id": "b8d4348d-858f-454d-a081-838db25b27ed"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1706, "end_step": 1795, "id": "9cc3b490-7d89-4079-a49e-668ab303285d"}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1796, "end_step": 1920, "id": "04402a0c-62de-49da-abe4-46cc7bd1d74b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}, {"label": "home", "start_step": 1944, "end_step": 1976, "id": "537SMeLkJbn5Xb4w4wSSx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side towards the green block in front of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it to the upper side of the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the assembled blocks mounted on the wooden base, with fingers slightly closing to stabilize the grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the wooden base with assembled blocks and moves it to the right position on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the white hexagonal block on the table surface and closes fingers to grasp it."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to form stable grip."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit stably."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden building block set toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward toward the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden building block set."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form stable grasp."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod by lowering it along the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring and moves its fingers away from the ring."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal ring towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal ring onto the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1911, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green cubic block and retreats from the wooden base."}], "episode_index": 19}
+{"source_uid": "21ab6eee1b7d9a2c", "num_frames": 1958, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "goal", "start_step": 0, "end_step": 110, "id": "74ef4f1c-c97e-4770-a958-1b589a9f6f45"}, {"label": "valid", "start_step": 0, "end_step": 1925, "id": "0HMcxnDvAtRyDRQNuqs_v"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "goal", "start_step": 111, "end_step": 235, "id": "66788235-663e-4c0b-a57f-343b8a49f24f"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "goal", "start_step": 236, "end_step": 280, "id": "bfa77149-6d97-4e2a-a437-7d5534895d60"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "goal", "start_step": 281, "end_step": 490, "id": "22ea5f5c-0357-4794-a84d-69d555a08396"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "goal", "start_step": 491, "end_step": 550, "id": "8d078fe0-f631-4273-abe9-cd7b54ed797a"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 551, "end_step": 700, "id": "d58209c7-3625-449c-b98b-d1467a475797"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "goal", "start_step": 701, "end_step": 765, "id": "70e7a26b-09c3-48f7-a9cf-45128db4e350"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "goal", "start_step": 766, "end_step": 875, "id": "4e118cd7-2dc7-41d0-b793-d9218fd78915"}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "goal", "start_step": 876, "end_step": 940, "id": "9156ffb9-ea99-4bb6-b69a-5d591378d160"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 941, "end_step": 1040, "id": "5250d874-3f88-4272-836e-1b9c2b950f96"}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "goal", "start_step": 1041, "end_step": 1115, "id": "2c70cb4f-cb2e-46d4-ba69-8a85f36434a7"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "goal", "start_step": 1116, "end_step": 1280, "id": "895435b7-ffa5-4f8a-9285-b93d8177791f"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "goal", "start_step": 1281, "end_step": 1350, "id": "5428274e-6acc-4f39-b50c-3acd65c283ea"}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1351, "end_step": 1500, "id": "08bb8cc1-28ab-44ba-a1ee-c52cf6efae86"}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1501, "end_step": 1560, "id": "c8263d6d-59cd-424f-a824-37a244c6aa18"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1720, "id": "9212ef52-5b1a-4f68-92fa-a8c3656d4d5f"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "goal", "start_step": 1721, "end_step": 1785, "id": "4ccfc880-d00a-45cd-b230-0676aa4f2343"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1786, "end_step": 1885, "id": "8e57f85c-b8be-48be-b7f4-f0265d0d3f86"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}, {"label": "home", "start_step": 1926, "end_step": 1957, "id": "zU0yAK6jhkrMPWWaYUc3A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward and leftward from its initial right-side position toward the green hexagonal block resting on the black table near the wooden pegboard, rotating the wrist slightly to orient open, extended fingers toward the block, with no contact made with the block."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the adjacent green hexagonal block on the table, making minor adjustments to finger and wrist position to form a stable grip on the block, which remains supported by the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden base, fitting the block onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg until the block rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden pegboard to approach the white hexagonal nut placed on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal nut on the table to form a stable grasp, with the nut still resting on the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above an unoccupied purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small positional adjustments to seat the nut firmly on top of the existing white nut already on the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking contact between the hand and the nut."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers a held white hexagonal block onto the top of the existing block stack on the leftmost purple peg of the wooden base, releasing grip as the block becomes supported by the stack."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block resting on the black table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table surface, making small adjustments to finger position to form a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward to position it directly above an empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple peg, lowering it to fit the block onto the peg until the block is fully seated in the stack on the base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand maintains a stable grip on the seated white hexagonal block on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align with the purple vertical peg on the wooden base, pressing the block down to fit it fully onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach_grasp: Right hand moves downward from the peg area toward the white hexagonal block on the table near the wooden base, closes fingers and makes slight positional adjustments to establish contact and form a grip on the block which stays on the table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block near the wooden peg base, forming a stable grasp on the block while it rests on the supporting surface."}, {"label": "subtasks", "start_step": 788, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the adjacent supporting surface, moving the block to a position directly above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the grasped white hexagonal block to align its central hole with the rightmost purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand sets the white hexagonal block fully onto the purple peg to rest stably on the wooden base, with fingers opening to release grasp of the block."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 952, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moving the block upward and leftward to position it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the raised green cylindrical block on the wooden block assembly to seat it fully onto the base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger contact positions to establish grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand holds the white hexagonal nut and lifts it upward from the dark table surface, separating the nut completely from the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moving it horizontally toward the light wooden assembly board to position the nut above the purple vertical rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut, aligning its central hole with the purple vertical rod on the wooden assembly board and fitting the nut down onto the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: release: Right hand releases the white cylindrical block on the stacked wooden base, with fingers opening and lifting away from the block surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the table near the wooden base, remaining out of contact with the nut during movement."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to fingers and wrist to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block above the purple rod on the wooden base without observable movement or posture change."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod until it rests stably on the underlying block, with fingers opening to release the block from grasp."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal nut placed on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, establishing a stable grasp of the nut while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, completely separating the nut from the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving the nut to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand adjusts the position and orientation of the held white hexagonal nut, aligns the nut's central hole with the purple rod, and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: press: Right hand presses downward on the top of the front-right white cylindrical piece on the pegboard."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the green cube, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it upward and forward to the position above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the green cubic block to align its central hole with the purple cylindrical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty, held stationary at the left side of the workspace with no contact to any objects. | Right hand: place: Right hand lowers the green cubic block downward along the purple peg until the block is supported by the wooden rack."}], "episode_index": 20}
+{"source_uid": "6e44ae99eadf8304", "num_frames": 1972, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 0, "end_step": 135, "id": "bc4c8998-8b9a-46a2-8206-eefaeb8ee8fd"}, {"label": "valid", "start_step": 0, "end_step": 1938, "id": "KoUKPqTDdhyMkL33Ub11l"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 136, "end_step": 270, "id": "1a91cca8-0301-4dcc-80ca-5a2452502a03"}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "goal", "start_step": 271, "end_step": 345, "id": "c93e49bb-9c88-4384-bad0-854bb4da5ab7"}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "goal", "start_step": 346, "end_step": 485, "id": "baa1537b-83ce-4349-9c52-b74d44d21a10"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "goal", "start_step": 486, "end_step": 560, "id": "75b1b0a2-5917-452e-9b8f-7b2ba38621d1"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "goal", "start_step": 561, "end_step": 805, "id": "c5c9f9d2-a15f-47ae-a7de-2b44b69d52a7"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 806, "end_step": 870, "id": "af57487d-e8e6-4b7a-bd82-417c86e9206a"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 871, "end_step": 1005, "id": "96e0325a-7b93-4abf-ade0-7dd1e1c96954"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "goal", "start_step": 1006, "end_step": 1075, "id": "9b3ac2e7-96a1-43b7-a772-1a5e2c120b1a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "goal", "start_step": 1076, "end_step": 1210, "id": "2860a3f5-fb0e-4959-b93c-67905770b2f4"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "goal", "start_step": 1211, "end_step": 1270, "id": "d8bbb7e6-eaf2-4f09-af8c-69d4b672b66e"}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1271, "end_step": 1410, "id": "39a23c86-cb29-4876-8905-3ffca57a46cd"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "goal", "start_step": 1411, "end_step": 1470, "id": "a1676222-7802-4c84-ba91-c13bf56a15e3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1471, "end_step": 1570, "id": "07cb9649-6d99-47f5-a865-c048d6278d5b"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "goal", "start_step": 1571, "end_step": 1625, "id": "bad3d5a2-30a8-4b2f-922a-e5030646e215"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1626, "end_step": 1755, "id": "e469c81d-f90b-40bc-96c7-0545f844811b"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1756, "end_step": 1800, "id": "c5a71f77-c469-43ad-9cf8-493953ff5373"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "goal", "start_step": 1801, "end_step": 1910, "id": "ed6bea63-8b73-4a3d-8bd5-b862233b14be"}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 1939, "end_step": 1971, "id": "2kk1Om36grzlbSu7ZiycC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its hand pose at the left side of the table, with fingers slightly opening and wrist rotating slightly. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 90, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to align with the top of the middle purple peg."}, {"label": "subtasks", "start_step": 158, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg by sliding it down to the peg's base on the wooden board."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block at the bottom of the middle purple peg without moving."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle purple peg, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table, moving downward and leftward from the peg board area, with no contact to the block."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the middle purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 382, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden pegboard by lowering it to fit around the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple peg, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with slight finger adjustments."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the black table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring with the purple peg on the wooden rack, slowly sliding the ring down along the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to above the rightmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the white hexagonal ring and mates it onto the rightmost purple peg until the ring rests on the green base block."}, {"label": "subtasks", "start_step": 998, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal ring on the purple peg and retreats slightly downward away from the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty from the area above the building block set toward the green ring on the table, approaching the target."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green ring on the table and adjusts its grip to secure the object."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and transports it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple peg on the wooden base and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green ring on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the building block set without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1221, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base, aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the upper white hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward toward the top of the purple rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to above the purple rod."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod as fingers open to loosen the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack toward the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cube upward and leftward to the position above the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the rightmost bottle and fits it over the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube on the bottle, with fingers opening and separating from the cube."}], "episode_index": 21}
+{"source_uid": "db9819f51e76e3ee", "num_frames": 2021, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "12e33d7c-877a-4df0-8afe-3580df0111d7"}, {"label": "valid", "start_step": 0, "end_step": 1990, "id": "x4Ll6eSFFrWxiTQSXXSp_"}, {"label": "subtasks", "start_step": 45, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "goal", "start_step": 131, "end_step": 275, "id": "26de76ad-6945-4e3a-b9dc-e5a640597725"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}, {"label": "goal", "start_step": 276, "end_step": 335, "id": "baefa307-7a07-412e-9d6f-77ed95bbdb4f"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 336, "end_step": 460, "id": "5fc5b6ba-3303-45d9-b5c3-299d51405dd0"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position above the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 461, "end_step": 545, "id": "1f607d74-eb1c-4091-b1ff-77fb5e03b58f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 546, "end_step": 650, "id": "c479d6ef-da9f-4697-a41e-68c86d867a18"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "goal", "start_step": 651, "end_step": 720, "id": "dd5109f9-2ac1-415a-833e-85294edc24e5"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 721, "end_step": 840, "id": "6432a415-a222-44ac-ae51-c0fe4718d7f4"}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}, {"label": "goal", "start_step": 841, "end_step": 920, "id": "8961b904-a64d-42cc-86ae-6089a3a955e7"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}, {"label": "goal", "start_step": 921, "end_step": 1040, "id": "9f40579a-cdbb-4ba6-94cd-831520f8f49d"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1041, "end_step": 1115, "id": "39426554-a359-48b3-9599-acb3205eb187"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1116, "end_step": 1230, "id": "900a948d-4cff-4d36-b0c5-717b86527745"}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1231, "end_step": 1300, "id": "528c00a8-baf4-49a8-80da-55ef43fb77a2"}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1301, "end_step": 1415, "id": "83fb8b70-a124-4821-a9a1-94dc2930d811"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "goal", "start_step": 1416, "end_step": 1540, "id": "ef61ed00-eeee-482d-bd67-0b31cfdbe3bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1541, "end_step": 1655, "id": "2d985b60-225a-4ec7-b51d-ec3b6906778b"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1656, "end_step": 1710, "id": "6634bd6d-1bfa-4141-8ab4-28bac99b2e77"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1711, "end_step": 1960, "id": "f09a1b3c-485d-4899-a9a8-d96e37366e08"}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}, {"label": "home", "start_step": 1991, "end_step": 2020, "id": "unaIlcAA7QCh58fLyIy3M"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden peg base on the table."}, {"label": "subtasks", "start_step": 45, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers and position to form a stable grasp on the green hexagonal block near the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position above the purple post of the wooden stacking base."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and fits it onto the post."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block and slightly moves away from the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block on the tabletop, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green block with the purple rod, lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green block, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple rod."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple stem of the white bottle until it is fully seated."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green cubic block that has been mounted on the white bottle."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats away from the wooden rack to the right side."}], "episode_index": 22}
+{"source_uid": "5de54cbf398ccbeb", "num_frames": 1983, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "fba73d9d-e5f1-48a1-a1d0-e9985c3679c4"}, {"label": "valid", "start_step": 0, "end_step": 1952, "id": "4FVffk8e5aYC9AvVWcuWA"}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "goal", "start_step": 151, "end_step": 260, "id": "3b54155e-65ac-4719-941f-634b3d07c61c"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "goal", "start_step": 261, "end_step": 350, "id": "23ea4bc4-c7d4-46ed-80ed-03a9e58c28c0"}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 510, "id": "e7344aba-bc42-4289-b63d-a01b21b6a660"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "goal", "start_step": 511, "end_step": 580, "id": "11a6ee35-0b80-4b7a-8de6-caaa7e806355"}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "goal", "start_step": 581, "end_step": 720, "id": "43aa58ad-4d77-4d20-8112-52e2c6a56dea"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "goal", "start_step": 721, "end_step": 795, "id": "8ff66ec0-2d62-4962-ba63-4ff640bff852"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "goal", "start_step": 796, "end_step": 940, "id": "093b862c-0edc-4b1e-a6b3-8f6ded1b808a"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "goal", "start_step": 941, "end_step": 1005, "id": "feea5b1b-dc82-4509-b2e7-c40dd047c34e"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 1006, "end_step": 1100, "id": "e5310bb0-785f-4a18-af64-b42f85d638c7"}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 1101, "end_step": 1175, "id": "e5016638-e48d-4d77-a0e8-d1a57c9048a3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "goal", "start_step": 1176, "end_step": 1320, "id": "ec3d90d2-d3da-482e-b8b1-cc4e42cb72db"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "goal", "start_step": 1321, "end_step": 1395, "id": "60e8aea3-16dd-4f92-a17d-5a7bc292d6c4"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "goal", "start_step": 1396, "end_step": 1505, "id": "a643560f-b49c-4196-a64e-b5c692700532"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "goal", "start_step": 1506, "end_step": 1570, "id": "3829fcc8-518e-4465-93a2-e31e42914214"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "8def124e-5645-457d-b971-303058e520f4"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1805, "id": "70bfd90b-e6ee-452b-a94a-639cbadbaded"}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1920, "id": "fe24ae26-d71f-4928-8a10-f247e0797c61"}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}, {"label": "home", "start_step": 1953, "end_step": 1982, "id": "FBbwRxm9tS49ES-YpEmJh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: idle: Right hand stays empty at the right side of the home position with no obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves toward the green hexagonal block in front of the wooden peg base with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table and makes slight wrist and finger adjustments to form a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the black table surface and moves it upward to the position above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, lowers the block to fit onto the peg so that the block is supported by the peg."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the white hexagonal nut on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes small finger and wrist adjustments to close around the target white hexagonal nut, adjusting contact points to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward from the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the white hexagonal ring toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 390, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal ring with the purple rod, slides the ring down the rod, and makes small adjustments to seat the ring in place on the assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area near the wooden block base toward the white hexagonal nut placed on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 548, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table to establish a firm, stable grasp."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is completely separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the unoccupied purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, then lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white cylindrical sleeve onto the rightmost purple peg of the wooden assembly base until the sleeve is supported by the base, opening fingers to release the sleeve."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the white hexagonal nut on the black table surface, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand moves vertically upward while holding the white hexagonal nut, lifting the nut completely off the table support surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the wooden assembly base, positioning the nut directly above the target purple rod."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembly fit between the nut and the rod."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 930, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downwards from the wooden pegboard area towards the green hexagonal block on the table surface, staying empty with no contact to the target block."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers flex and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg with small positional adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably positioned on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from above the wooden pegboard toward the front white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the black table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds a white hexagonal nut resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and left toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1222, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the purple peg on the wooden stand, lowering it onto the peg while making small positional adjustments to fit the pieces together."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward and to the right from its position above the wooden block rack, fingers held spread, approaching the white hexagonal nut adjacent to the rack on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small adjustments to finger contact positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block, moves it upward and leftward toward the empty slot on the wooden peg board."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block steadily directly above the empty slot on the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the empty slot, where the block is supported by the wooden peg board base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty down-right toward the white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it up-left toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod down to the wooden tray surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward from the area beside the block stack toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow block to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block down onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}], "episode_index": 23}
+{"source_uid": "f309141933affada", "num_frames": 2613, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "goal", "start_step": 0, "end_step": 115, "id": "4e1a827c-1f9f-4863-8834-1081cdb201eb"}, {"label": "valid", "start_step": 0, "end_step": 2579, "id": "wBVrgn1im-JPXcUZDgAlq"}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 116, "end_step": 220, "id": "898d9e51-c8dc-4f22-9754-1eff3c6eeb52"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 221, "end_step": 275, "id": "e651d317-fb72-4058-8737-5c92a7cd40f4"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 276, "end_step": 385, "id": "6e4b08c6-7dc2-49e4-9db2-07605036639a"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "goal", "start_step": 386, "end_step": 470, "id": "cbfa5e5a-4d15-42e7-a4ef-6fb6366c6ccf"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 471, "end_step": 575, "id": "ed9bbfba-68fe-4a6f-b815-27b989ad0816"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "goal", "start_step": 576, "end_step": 635, "id": "c6a3c8b2-0bed-4f8b-9faa-951c1d1c64b6"}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 636, "end_step": 820, "id": "6bf8c6a3-fd02-4078-b42b-f000f763c791"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 821, "end_step": 940, "id": "31037bd2-4875-466b-ba01-26984329da36"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 941, "end_step": 1035, "id": "c89839e9-74c1-4817-9697-a3d114d920ec"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "goal", "start_step": 1036, "end_step": 1180, "id": "1ddc96c9-15bd-4d0c-9694-985fd66522f3"}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "goal", "start_step": 1181, "end_step": 1425, "id": "bc539d48-31b8-4c67-a27c-2198ba3ab68b"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1470, "id": "a1d37dd5-008f-44b8-9481-52351cd2925a"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "goal", "start_step": 1471, "end_step": 1600, "id": "f2078fac-ec1c-4cc2-89bf-14ea67bf7a05"}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1601, "end_step": 1660, "id": "9010775c-9606-49a6-8f6f-2f2cb4157acf"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1661, "end_step": 1775, "id": "5edbfc7e-535d-4d97-ae7d-3abc23506bd8"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1776, "end_step": 1845, "id": "24a5aeb0-ebbe-482d-b294-f67f0f748267"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "goal", "start_step": 1846, "end_step": 2545, "id": "2366c883-464c-4190-8d47-584cc2ec9e9c"}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}, {"label": "home", "start_step": 2580, "end_step": 2612, "id": "rGjyJNaZ2ah1-LK3IHp4I"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:finger_posture_adjust: Left hand slightly adjusts its finger posture at the left side of the table, with fingers spreading and bending gently. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 22, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden peg rack, with fingers slightly open and wrist rotating slightly to face downward."}, {"label": "subtasks", "start_step": 68, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to above the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost vertical peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the green hexagonal block fitted on the leftmost peg without moving and releases it by opening its fingers."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white piece on the green block of the pegboard, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the pegboard."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and moves it upward to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg of the wooden base and releases the part."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it to the position above the middle purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the middle purple peg of the wooden rack, lowering it until it rests on the green component below."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening and moving slightly upward away from the ring."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the pegboard, with hand empty and not contacting the block."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the target peg on the pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the target peg on the pegboard by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white holed cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table surface without contact."}, {"label": "subtasks", "start_step": 862, "end_step": 951, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downward to mate it onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod and the green block while remaining empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board area to approach the white hexagonal block on the table, with no contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, then closes fingers and adjusts grip to grasp the block that stays on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block, then stays briefly beside the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left toward the white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block and closes fingers to grasp it, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1221, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1357, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to push it to a lower position."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward and away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the purple rod area toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple rod on the wooden pegboard."}, {"label": "subtasks", "start_step": 1522, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1769, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block with purple top on the wooden tray, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the lower right area of the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers closing and adjusting grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward toward the rightmost column of the block set."}, {"label": "subtasks", "start_step": 1920, "end_step": 2054, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column in an attempted fitting, and releases the ring that falls onto the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2144, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches rightward toward the green ring on the right side of the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring leftward to the front area of the block set."}, {"label": "subtasks", "start_step": 2212, "end_step": 2234, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green ring on the table in front of the block set and releases its grip."}, {"label": "subtasks", "start_step": 2235, "end_step": 2429, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_ring_on_table: Right hand adjusts the position and orientation of the green ring on the table with its fingers."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2467, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the table in front of the block set."}, {"label": "subtasks", "start_step": 2468, "end_step": 2497, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and rightward toward the rightmost purple-topped column."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the green ring with the purple-topped column, fits it onto the column, and releases its grip."}], "episode_index": 24}
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+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 25,
+    "total_frames": 57215,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:25"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be214bd4f11b1269a955125b5afacdf00e740b5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_10_43_13_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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