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closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "home", "start_step": 1886, "end_step": 1925, "id": "ENJ287FoL6x7dOJG7ebeQ"}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves downward from its initial raised upright position to the left front home position, with slight finger posture adjustments during the movement. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "episode_index": 8}
+{"source_uid": "b8dbbefe4db5ee4b", "num_frames": 1665, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1f5d37df5abf179a", "num_frames": 1914, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_30_05_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "3a12d71a9cb29c50", "num_frames": 1699, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 1658, "id": "bR24dDw5SN7vmvlQPp0-j"}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}, {"label": "home", "start_step": 1659, "end_step": 1698, "id": "RweVyrDV5l0Hak1x2x0xx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}], "episode_index": 11}
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open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "home", "start_step": 1427, "end_step": 1466, "id": "WHdbE1XrpopiTfP0o5O51"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends fingers from the initial upright closed pose with slight wrist rotation, reaching a stable open-hand posture. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}], "episode_index": 22}
+{"source_uid": "b77d4bd8d7c0c2c1", "num_frames": 1967, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 398, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 1040, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1433, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1434, "end_step": 1887, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 398, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 1040, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1433, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1434, "end_step": 1887, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_47_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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{"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block leftward to the area above the green-blue stacked block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the top of the green-blue stacked block, aligning and placing it into assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the orange block on top of the green-blue stacked block without moving."}, {"label": "home", "start_step": 1332, "end_step": 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hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the standing small green block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the table and moves it above the flat green block."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the small green block onto the flat green block until it is supported by the flat block."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of 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block with its index finger, keeping still after pressing."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green-blue stacked block on the table, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves rightward towards the orange block on the table, not yet touching the block."}, {"label": "subtasks", "start_step": 998, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the orange block on the table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block upward off the table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the orange block leftward to the area above the green-blue stacked block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the orange block with the top of the green-blue stacked block, aligning and placing it into assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the orange block on top of the green-blue stacked block without moving."}], "episode_index": 38}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65ba0024b09c7065c1d4c2433f7e12b9f7d3f9f5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,39 @@
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+{"source_uid": "657372949f81b539", "num_frames": 1926, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves downward from its initial raised upright position to the left front home position, with slight finger posture adjustments during the movement. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "valid", "start_step": 0, "end_step": 1885, "id": "WdSBboEvBSm6XfV-NvoAR"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "home", "start_step": 1886, "end_step": 1925, "id": "ENJ287FoL6x7dOJG7ebeQ"}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves downward from its initial raised upright position to the left front home position, with slight finger posture adjustments during the movement. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward continuously from its initial raised upright position toward the Lego bricks on the black table surface, staying empty and not yet contacting any object by the end of the segment."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small 2x2 green Lego brick and makes slight finger and wrist adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped small 2x2 green Lego brick off the dark table surface and moves it rightward to the position above the lower green Lego piece."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the posture of the small 2x2 green Lego brick to align its connecting points with the lower green Lego piece."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the aligned small 2x2 green Lego brick on the lower green Lego piece without any noticeable movement or hand shape change."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to form and stabilize a firm grip on the small green Lego brick."}, {"label": "subtasks", "start_step": 442, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: place: Right hand moves the gripped small green Lego brick gradually downward and places it onto the upper surface of the longer green Lego brick resting on the table, until the small brick is supported by the longer piece."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the small green brick resting on the black table, breaking contact with the brick surface."}, {"label": "subtasks", "start_step": 585, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to recontact the small green brick, making continuous slight finger movements to adjust contact points and form a stable grip on the brick."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reorient: Right hand holds the small green brick and rotates it slightly to readjust its alignment, with negligible positional change of the brick on the table."}, {"label": "subtasks", "start_step": 720, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger contact positions on the small green brick resting on the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves slightly upward while holding the small green brick, until the brick fully loses contact with the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: transport_place: Right hand moves the suspended small green brick slightly horizontally while lowering it, until the brick rests stably on the table surface again."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the small green brick that rests on the table surface, with no detectable movement of the hand, fingers or the brick."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: release: Right hand gradually opens its fingers to release the green building brick resting on the black table surface, fully separating contact from the green brick by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward across the black table surface while remaining empty, approaching the blue building brick positioned near the orange brick."}, {"label": "subtasks", "start_step": 990, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the blue building brick on the table, making continuous small adjustments of finger and wrist positions to establish a stable grasp on the brick."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego brick resting on the black table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the blue 2x2 Lego brick off the table surface and moves it leftward until it makes contact with the side of the adjacent green Lego brick."}, {"label": "subtasks", "start_step": 1185, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the blue 2x2 Lego brick, aligns it with the top surface of the green Lego brick, and presses it downward to attach the two bricks together."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand contacts the blue brick adjacent to the green brick on the table, makes small positional adjustments to the blue brick, and applies downward pressure to it."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves away from the blue and green bricks with empty hand, retreating toward the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves rightward and downward toward the 2x2 orange Lego brick on the black table, keeping fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1478, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the 2x2 orange Lego brick on the black table, adjusting finger positions to form a stable grip while the brick stays on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the 2x2 orange Lego brick completely off the black table surface, moving it slightly leftward while maintaining a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand holds the grasped orange 2x2 Lego brick, lifts it off the black table surface and moves it leftward to position it above the stacked green and blue Lego bricks."}, {"label": "subtasks", "start_step": 1628, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand adjusts the position of the orange 2x2 Lego brick to align its connecting parts with the top surface of the underlying green Lego brick for assembly."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: press: Right hand presses downward on the top surface of the orange 2x2 Lego brick to secure its connection to the stacked Lego base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left front home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1925, "id": "reasoning-language-00032", "text": "Left hand: retreat: Left hand moves upward with a slight outward rotation while empty, moving away from the table surface. | Right hand: retreat: Right hand moves upward with a slight outward rotation while empty, retreating from the stacked plastic blocks on the black table."}], "episode_index": 8}
+{"source_uid": "b8dbbefe4db5ee4b", "num_frames": 1665, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 263, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 264, "end_step": 706, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 1160, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1580, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1f5d37df5abf179a", "num_frames": 1914, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 846, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 1215, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1812, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_06_19_16_35_train/POC22027_2026_05_06_19_30_05_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "3a12d71a9cb29c50", "num_frames": 1699, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "valid", "start_step": 0, "end_step": 1658, "id": "bR24dDw5SN7vmvlQPp0-j"}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}, {"label": "home", "start_step": 1659, "end_step": 1698, "id": "RweVyrDV5l0Hak1x2x0xx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand stays empty, moves downward and leftward from its initial upper-right position toward the small 2x2 green Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes its fingers to contact and enclose the small 2x2 green Lego brick on the black table surface, establishing initial contact for a stable grasp."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger and wrist positions, closing fingers around the small green Lego brick on the black table surface to establish a stable grip, with the brick remaining on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release the small green brick, with fingers separating from the brick as the brick settles on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves down toward the small green brick on the table, adjusting finger positions and closing fingers to form a stable grasp on the brick."}, {"label": "subtasks", "start_step": 488, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand holds the small green brick steadily on the black table surface without visible movement of the hand or the brick."}, {"label": "subtasks", "start_step": 540, "end_step": 607, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions and closes around the stacked green Lego bricks on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release_retreat: Right hand opens fingers to release the stacked green Lego bricks onto the black table surface and moves slightly upward away from the bricks."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach_grasp: Right hand moves toward the blue 2x2 Lego brick resting on the black table surface, closes fingers around the brick and adjusts finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand moves fingers to contact, close around and adjust grip on the blue Lego brick placed next to the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the grasped blue Lego brick, moving it toward the stacked green bricks on the table."}, {"label": "subtasks", "start_step": 870, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand opens fingers to release contact with the stacked green and blue Lego brick resting on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the right while empty, approaching the small orange Lego brick on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand briefly presses down on the small orange Lego brick with the index finger to tap it."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves horizontally to the left while empty, approaching the stacked green and blue Lego brick on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: press: Right hand moves the index finger downward to apply pressure on the top surface of the stacked green and blue Lego brick."}, {"label": "subtasks", "start_step": 1118, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: hold: Right hand maintains a light grasp on the stacked green and blue Lego brick, remaining completely stationary without lifting or moving the brick."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: release: Right hand lifts the fingers upward to release the grasp on the stacked green and blue Lego brick, losing contact with the brick surface by the end of the segment."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: reach: Right hand moves rightward with fingers open, approaching the small orange Lego brick on the black table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small orange Lego brick, making small adjustments to finger positions to form a grip on the brick."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: grasp: Right hand closes fingers around the orange Lego brick resting on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: lift: Right hand lifts the grasped orange Lego brick upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1477, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: transport: Right hand carries the lifted orange Lego brick horizontally to the position directly above the stacked green and blue Lego bricks, making slight position adjustments during movement."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object. | Right hand: place: Right hand moves the orange Lego brick downward to place it on the top surface of the green and blue Lego stack, with the brick supported by the stack at the end of the segment."}, {"label": "subtasks", "start_step": 1515, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no significant displacement and no contact with any operated object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1698, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the left side, remaining empty throughout the movement. | Right hand: return_home: Right hand moves upward from the position near the stacked colorful building blocks to its initial raised position on the right side, remaining empty throughout the movement."}], "episode_index": 11}
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remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table 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block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "home", "start_step": 1427, "end_step": 1466, "id": "WHdbE1XrpopiTfP0o5O51"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:extend_fingers: Left hand extends fingers from the initial upright closed pose with slight wrist rotation, reaching a stable open-hand posture. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 45, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: other:extend_fingers: Right hand extends fingers from the initial upright closed pose with slight wrist rotation, completing finger extension before moving toward the target brick."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward and leftward toward the small 2x2 green Lego brick on the table, staying empty as it approaches the brick without contact."}, {"label": "subtasks", "start_step": 105, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the small 2x2 green Lego brick, adjusting finger positions gradually to close around the brick, while the brick remains supported by the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand, firmly holding the small light green 2x2 Lego block, moves upward to lift the block completely away from the black table support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped small light green 2x2 Lego block horizontally to the position directly above the longer green Lego block resting on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the grasped small light green 2x2 Lego block downward, setting it down onto the black table surface next to the longer green Lego block until the block is fully supported by the table."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the small light green 2x2 Lego block that rests steadily on the black table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand makes slight adjustments to its fingers and wrist to stably grasp the two stacked light green Lego blocks, with the blocks staying in contact with the black table surface during small positional shifts."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the two stacked light green Lego blocks fully off the black table surface and carries them a short distance toward the lower-left area above the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand lowers the two stacked light green Lego blocks onto a new position on the black table until the blocks are stably supported by the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the two stacked light green Lego blocks placed on the table."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves downward toward the blue 2x2 Lego block on the right table surface with fingers slightly open, making no contact with the block."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the blue 2x2 Lego block on the right table surface, performing small finger adjustments to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the blue 2x2 Lego block, fully separating the block from the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the blue 2x2 Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped blue 2x2 Lego block until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: transport: Right hand carries the grasped blue 2x2 Lego block horizontally to the position directly above the stacked green Lego block."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves downward to place the blue 2x2 Lego block onto the top surface of the stacked green Lego block until the block is stably supported."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the blue 2x2 Lego block resting on the green Lego block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty near the stacked Lego blocks without any visible movement."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand releases the stacked green and blue Lego blocks on the table, opening fingers to separate from the blocks."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: reach: Right hand moves rightward with empty hand toward the small orange 2x2 Lego block on the right side of the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: grasp: Right hand contacts the orange 2x2 Lego block, closing and adjusting fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped orange 2x2 Lego block off the dark table surface and moves it leftward to the position directly above the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the held orange Lego block to align it with the mounting points on the stacked blocks below."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: hold: Right hand holds the orange Lego block steadily above the stacked blocks without any observable movement."}, {"label": "subtasks", "start_step": 1208, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: place: Right hand moves the held orange Lego block downward, placing it onto the top surface of the stacked Lego blocks until it is fully supported."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the orange Lego block resting on the stacked blocks."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: idle: Right hand remains empty above the assembled Lego blocks without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1401, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the stacked Lego tower on the black table, fully separating from the Lego blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the stable open-hand posture above the left area of the table without any observable movement. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: return_home: Left hand moves upward empty from its resting position, returning to the home position in front of the robot. | Right hand: return_home: Right hand moves upward empty away from the Lego tower, returning to the initial home position in front of the robot."}], "episode_index": 22}
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/info.json
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index 0000000000000000000000000000000000000000..eb7e527a0cdebea2eeef0f7512583b4e28de040a
--- /dev/null
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+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4c16f944a2bf085017c8d7d8c4a882abfe86e7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_19_16_35_train/lerobot_v3.0/meta/stats.json
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..124f6e159250642f32ac4aaf210eaffc32bc16a9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,14 @@
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..393c6d28817178e5ff7d6428ca43541612186137
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,14 @@
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+{"episode_index": 13, "tasks": ["Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."], "length": 1383}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a195baacec11c79a4734d0dbbca8467668a799d5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,14 @@
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f18699aa242d15b2d3dc5cb90d40c76fa9b2597
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1941d6beb13af445c1bcf9572c029ddcb8d089a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..687a118df0a7ed9070b80da513e14d2d292afee2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2847cc57f41515be10c666516c931fe716bd207
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_20_35_56_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 14,
+  "frames": 21363,
+  "video_frames": {
+    "observation.images.head_left": 21363,
+    "observation.images.wrist_left": 21363,
+    "observation.images.wrist_right": 21363,
+    "observation.images.head_right": 21363,
+    "observation.images.tactile_deform": 21363,
+    "observation.images.tactile_raw": 21363
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 14
+}
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